相关论文: RoboChop: Autonomous Framework for Fruit and Veget…

Modern image-based object detection models, such as YOLOv7, primarily process individual frames independently, thus ignoring valuable temporal context naturally present in videos. Meanwhile, existing video-based detection methods often…

Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption.…

Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during interaction. Motivated by these challenges, this article…

Surgical object detection in laparoscopic videos enables real-time instrument identification for workflow analysis and skills assessment, but training robust models such as You Only Look Once (YOLO) is challenged by limited data, privacy…

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…

Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…

For mobile robots to be effectively applied to real world unstructured environments -- such as large scale farming -- they require the ability to generate adaptive plans that account both for limited onboard resources, and the presence of…

Image cropping has progressed tremendously under the data-driven paradigm. However, current approaches do not account for the intentions of the user, which is an issue especially when the composition of the input image is complex. Moreover,…

Challenges in strawberry picking made selective harvesting robotic technology demanding. However, selective harvesting of strawberries is complicated forming a few scientific research questions. Most available solutions only deal with a…

Tree fruit breeding is a long-term activity involving repeated measurements of various fruit quality traits on a large number of samples. These traits are traditionally measured by manually counting the fruits, weighing to indirectly…

We propose a novel Attentional Scale Sequence Fusion based You Only Look Once (YOLO) framework (ASF-YOLO) which combines spatial and scale features for accurate and fast cell instance segmentation. Built on the YOLO segmentation framework,…

We present an AI pipeline that involves using smart drones equipped with computer vision to obtain a more accurate fruit count and yield estimation of the number of blueberries in a field. The core components are two object-detection models…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

Efficient sampling from constraint manifolds, and thereby generating a diverse set of solutions for feasibility problems, is a fundamental challenge. We consider the case where a problem is factored, that is, the underlying nonlinear…

We propose a geometry-based grasping method for vine tomatoes. It relies on a computer-vision pipeline to identify the required geometric features of the tomatoes and of the truss stem. The grasping method then uses a geometric model of the…

In this study, we introduce a novel visual imitation network with a spatial attention module for robotic assisted feeding (RAF). The goal is to acquire (i.e., scoop) food items from a bowl. However, achieving robust and adaptive food…

In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This imposes very strict constraints on the object pose such that…

This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For perception, we propose…

Power line infrastructure is a key component of the power system, and it is rapidly expanding to meet growing energy demands. Vegetation encroachment is a significant threat to the safe operation of power lines, requiring reliable and…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…