相关论文: Counting Objects in a Robotic Hand

Hand gestures have evolved into a natural and intuitive means of engaging with technology. The objective of this research is to develop a robust system that can accurately recognize and classify hand gestures representing numbers. The…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Owing to human labor shortages, the automation of labor-intensive manual waste-sorting is needed. The goal of automating waste-sorting is to replace the human role of robust detection and agile manipulation of waste items with robots. To…

Transferring multiple objects between bins is a common task for many applications. In robotics, a standard approach is to pick up one object and transfer it at a time. However, grasping and picking up multiple objects and transferring them…

Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task…

Contrastive representation learning has been outstandingly successful in practice. In this work, we identify two key properties related to the contrastive loss: (1) alignment (closeness) of features from positive pairs, and (2) uniformity…

Although an object may appear in numerous contexts, we often describe it in a limited number of ways. Language allows us to abstract away visual variation to represent and communicate concepts. Building on this intuition, we propose an…

Sensor embedded glove systems have been reported to require careful, time consuming and precise calibrations on a per user basis in order to obtain consistent usable data. We have developed a low cost, flex sensor based smart glove system…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…

Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

Existing computer vision and object detection methods strongly rely on neural networks and deep learning. This active research area is used for applications such as autonomous driving, aerial photography, protection, and monitoring.…

Contrastive learning is a major studied topic in metric learning. However, sampling effective contrastive pairs remains a challenge due to factors such as limited batch size, imbalanced data distribution, and the risk of overfitting. In…

Machine learning can greatly benefit from providing learning algorithms with pairs of contrastive training examples -- typically pairs of instances that differ only slightly, yet have different class labels. Intuitively, the difference in…

Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…

To reach human performance on complex tasks, a key ability for artificial systems is to understand physical interactions between objects, and predict future outcomes of a situation. This ability, often referred to as intuitive physics, has…

Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile and kinesthetic…