相关论文: Pour me a drink: Robotic Precision Pouring Carbona…

Robotic assistants in a home environment are expected to perform various complex tasks for their users. One particularly challenging task is pouring drinks into cups, which for successful completion, requires the detection and tracking of…

Liquid state estimation is important for robotics tasks such as pouring; however, estimating the state of transparent liquids is a challenging problem. We propose a novel segmentation pipeline that can segment transparent liquids such as…

Liquid perception is critical for robotic pouring tasks. It usually requires the robust visual detection of flowing liquid. However, while recent works have shown promising results in liquid perception, they typically require labeled data…

Pouring is the second most frequently executed motion in cooking scenarios. In this work, we present our system of accurate pouring that generates the angular velocities of the source container using recurrent neural networks. We collected…

Pouring a specific amount of liquid is a challenging task. In this paper we develop methods for robots to use visual feedback to perform closed-loop control for pouring liquids. We propose both a model-based and a model-free method…

Pouring is one of the most commonly executed tasks in humans' daily lives, whose accuracy is affected by multiple factors, including the type of material to be poured and the geometry of the source and receiving containers. In this work, we…

As service robots begin to be deployed to assist humans, it is important for them to be able to perform a skill as ubiquitous as pouring. Specifically, we focus on the task of pouring an exact amount of water without any environmental…

Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work,…

Open containers, i.e., containers without covers, are an important and ubiquitous class of objects in human life. In this letter, we propose a novel method for robots to "imagine" the open containability affordance of a previously unseen…

Cooking robots have long been desired by the commercial market, while the technical challenge is still significant. A major difficulty comes from the demand of perceiving and handling liquid with different properties. This paper presents a…

The growing demand for innovative research in the food industry is driving the adoption of robots in large-scale experimentation, as it offers increased precision, replicability, and efficiency in product manufacturing and evaluation. To…

To accurately pour drinks into various containers is an essential skill for service robots. However, drink pouring is a dynamic process and difficult to model. Traditional deep imitation learning techniques for implementing autonomous…

Transparent liquid manipulation in robotic pouring remains challenging for perception systems: specular/refraction effects and lighting variability degrade visual cues, undermining reliable level estimation. To address this challenge, we…

Manipulating liquid is widely required for many tasks, especially in cooking. A common way to address this is extruding viscous liquid from a squeeze bottle. In this work, our goal is to create a sauce plating robot, which requires precise…

Humans have the amazing ability to perform very subtle manipulation task using a closed-loop control system with imprecise mechanics (i.e., our body parts) but rich sensory information (e.g., vision, tactile, etc.). In the closed-loop…

This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…

Liquids are an important part of many common manipulation tasks in human environments. If we wish to have robots that can accomplish these types of tasks, they must be able to interact with liquids in an intelligent manner. In this paper,…

Robotic pollinators not only can aid farmers by providing more cost effective and stable methods for pollinating plants but also benefit crop production in environments not suitable for bees such as greenhouses, growth chambers, and in…

In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…

Liquids and granular media are pervasive throughout human environments, yet remain particularly challenging for robots to sense and manipulate precisely. In this work, we present a systematic approach at integrating capacitive sensing…