相关论文: Continuous Object State Recognition for Cooking Ro…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Despite the recent success of state-of-the-art 3D object recognition approaches, service robots are frequently failed to recognize many objects in real human-centric environments. For these robots, object recognition is a challenging task…

Many software engineering tasks, such as testing, and anomaly detection can benefit from the ability to infer a behavioral model of the software.Most existing inference approaches assume access to code to collect execution sequences. In…

We study the problem of learning a range of vision-based manipulation tasks from a large offline dataset of robot interaction. In order to accomplish this, humans need easy and effective ways of specifying tasks to the robot. Goal images…

Object Detection, a fundamental computer vision problem, has paramount importance in smart camera systems. However, a truly reliable camera system could be achieved if and only if the underlying object detection component is robust enough…

As robots perform manipulation tasks and interact with objects, it is probable that they accidentally drop objects (e.g., due to an inadequate grasp of an unfamiliar object) that subsequently bounce out of their visual fields. To enable…

Traditional dietary assessment methods heavily rely on self-reporting, which is time-consuming and prone to bias. Recent advancements in Artificial Intelligence (AI) have revealed new possibilities for dietary assessment, particularly…

Cooking typically involves a plethora of decisions about ingredients and tools that need to be chosen in order to write a good cooking recipe. Cooking can be modelled in an optimization framework, as it involves a search space of…

Food is essential for human survival, and people always try to taste different types of delicious recipes. Frequently, people choose food ingredients without even knowing their names or pick up some food ingredients that are not obvious to…

Recognising relevant objects or object states in its environment is a basic capability for an autonomous robot. The dominant approach to object recognition in images and range images is classification by supervised machine learning,…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…

Situated embodied conversation requires robots to interleave real-time dialogue with active perception: deciding what to look at, when to look, and what to say under tight latency constraints. We present a simple, minimal system recipe that…

Learning-based methods commonly treat state estimation in robotics as a sequence modeling problem. While this paradigm can be effective at maximizing end-to-end performance, models are often difficult to interpret and expensive to train,…

With the arrival of convolutional neural networks, the complex problem of food recognition has experienced an important improvement in recent years. The best results have been obtained using methods based on very deep convolutional neural…

In the realm of food computing, segmenting ingredients from images poses substantial challenges due to the large intra-class variance among the same ingredients, the emergence of new ingredients, and the high annotation costs associated…

Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…

We propose a method for sim-to-real robot learning which exploits simulator state information in a way that scales to many objects. We first train a pair of encoder networks to capture multi-object state information in a latent space. One…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

Cooking process visualization is a promising task in the intersection of image generation and food analysis, which aims to generate an image for each cooking step of a recipe. However, most existing works focus on generating images of…