相关论文: RoboChop: Autonomous Framework for Fruit and Veget…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit and grippers, variable stem attachment,…
Due to the high efficiency and less weather dependency, autonomous greenhouses provide an ideal solution to meet the increasing demand for fresh food. However, managers are faced with some challenges in finding appropriate control…
A robot providing mealtime assistance must perform specialized maneuvers with various utensils in order to pick up and feed a range of food items. Beyond these dexterous low-level skills, an assistive robot must also plan these strategies…
The practical deployment of Federated Learning (FL) on resource-constrained devices is fundamentally limited by the high cost of training large models and the instability caused by heterogeneous (non-IID) client data. Conventional pruning…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
A key challenge in robotic food manipulation is modeling the material properties of diverse and deformable food items. We propose using a multimodal sensory approach to interact and play with food that facilitates the ability to distinguish…
In this paper, we present a next-best-view planning approach to autonomously size apple fruitlets. State-of-the-art viewpoint planners in agriculture are designed to size large and more sparsely populated fruit. They rely on lower…
To better optimise the global food supply chain, robotic solutions are needed to automate tasks currently completed by humans. Namely, phenotyping, quality analysis and harvesting are all open problems in the field of agricultural robotics.…
In this work, we address the problem of semantic object segmentation using foundation models. We investigate whether foundation models, trained on a large number and variety of objects, can perform object segmentation without fine-tuning on…
The ability to accurately represent and localise relevant objects is essential for robots to carry out tasks effectively. Traditional approaches, where robots simply capture an image, process that image to take an action, and then forget…
To enhance the perception and reasoning capabilities of multimodal large language models in complex visual scenes, recent research has introduced agent-based workflows. In these works, MLLMs autonomously utilize image cropping tool to…
Accurate localisation of crop remains highly challenging in unstructured environments such as farms. Many of the developed systems still rely on the use of hand selected features for crop identification and often neglect the estimation of…
We present a mobile application made to recognize food items of multi-object meal from a single image in real-time, and then return the nutrition facts with components and approximate amounts. Our work is organized in two parts. First, we…
Class-agnostic image segmentation is a crucial component in automating image editing workflows, especially in contexts where object selection traditionally involves interactive tools. Existing methods in the literature often adhere to…
Robotic surgery offers enhanced precision and adaptability, paving the way for automation in surgical interventions. Cholecystectomy, the gallbladder removal, is particularly well-suited for automation due to its standardized procedural…
Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spatial relationships between objects. Vision-Language Models…
The landscape of publicly available vision foundation models (VFMs), such as CLIP and Segment Anything Model (SAM), is expanding rapidly. VFMs are endowed with distinct capabilities stemming from their pre-training objectives. For instance,…
Automatic image cropping aims to extract the most visually salient regions while preserving essential composition elements. Traditional saliency-aware cropping methods optimize a single bounding box, making them ineffective for applications…
Amodal segmentation is a challenging task that aims to predict the complete geometric shape of objects, including their occluded regions. Although existing methods primarily focus on amodal segmentation within the training domain, these…
Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…