相关论文: Point Anywhere: Directed Object Estimation from Om…

Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…

This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…

Video object segmentation, i.e., the separation of a target object from background in video, has made significant progress on real and challenging videos in recent years. To leverage this progress in 3D applications, this paper addresses…

We present a novel approach to estimating physical properties of objects from video. Our approach consists of a physics engine and a correction estimator. Starting from the initial observed state, object behavior is simulated forward in…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…

Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…

Panoramic imagery, with its 360{\deg} field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surrounding objects. However, most MOT algorithms are tailored…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

Human pose estimation aims at locating the specific joints of humans from the images or videos. While existing deep learning-based methods have achieved high positioning accuracy, they often struggle with generalization in occlusion…

This paper proposes CAMOT, a simple camera angle estimator for multi-object tracking to tackle two problems: 1) occlusion and 2) inaccurate distance estimation in the depth direction. Under the assumption that multiple objects are located…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

Deep Convolutional Neural Networks (DCNN) have been proven to be effective for various computer vision problems. In this work, we demonstrate its effectiveness on a continuous object orientation estimation task, which requires prediction of…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…

In modern production facilities industrial robots and humans are supposed to interact sharing a common working area. In order to avoid collisions, the distances between objects need to be measured conservatively which can be done by a…

Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…