相关论文: Push to know! -- Visuo-Tactile based Active Object…

Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain…

Multimodal object detection leverages diverse modal information to enhance the accuracy and robustness of detectors. By learning long-term dependencies, Transformer can effectively integrate multimodal features in the feature extraction…

Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…

Although First Person Vision systems can sense the environment from the user's perspective, they are generally unable to predict his intentions and goals. Since human activities can be decomposed in terms of atomic actions and interactions…

Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algorithm, capable of manipulating many different types of…

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…

Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…

Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose…

In this preliminary work, we propose to design an activity recognition system that is suitable for Industrie 4.0 (I4.0) applications, especially focusing on Learning from Demonstration (LfD) in collaborative robot tasks. More precisely, we…

Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different…

Industrial soft sensing is crucial for accurate process monitoring through reliable inference of dominant sensor variables. However, developing effective data-driven soft sensor models presents challenges, such as achieving domain…

This paper is concerned with learning transferable forward models for push manipulation that can be applying to novel contexts and how to improve the quality of prediction when critical information is available. We propose to learn a…

3D object detection plays a crucial role in autonomous systems, yet existing methods are limited by closed-set assumptions and struggle to recognize novel objects and their attributes in real-world scenarios. We propose OVODA, a novel…

Object detection plays a deep role in visual systems by identifying instances for downstream algorithms. In industrial scenarios, however, a slight change in manufacturing systems would lead to costly data re-collection and human annotation…

Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

Predicting the outcomes of robotic actions, often referred to as learning a world model, in complex environments remains a fundamental challenge in robotics. Existing approaches primarily rely on visual observations and action inputs to…

Object manipulation, which focuses on learning to perform tasks on similar parts across different types of objects, can be divided into an approaching stage and a manipulation stage. However, previous works often ignore this characteristic…

Object detection is one of the most important and fundamental aspects of computer vision tasks, which has been broadly utilized in pose estimation, object tracking and instance segmentation models. To obtain training data for object…

An active object recognition system has the advantage of being able to act in the environment to capture images that are more suited for training and that lead to better performance at test time. In this paper, we propose a deep…