相关论文: The active visual sensing methods for robotic weld…
Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…
Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Automatic recognition of surgical activities in the operating room (OR) is a key technology for creating next generation intelligent surgical devices and workflow monitoring/support systems. Such systems can potentially enhance efficiency…
Visual object tracking, as a fundamental task in computer vision, has drawn much attention in recent years. To extend trackers to a wider range of applications, researchers have introduced information from multiple modalities to handle…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
"Embodied visual navigation" problem requires an agent to navigate in a 3D environment mainly rely on its first-person observation. This problem has attracted rising attention in recent years due to its wide application in autonomous…
Visual pose tracking is playing an increasingly vital role in industrial contexts in recent years. However, the pose tracking for industrial metal objects remains a challenging task especially in the real world-environments, due to the…
Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…
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…
Visual and scalar-field (e.g., chemical) sensing are two of the options robot teams can use to perceive their environments when performing tasks. We give the first comparison of the computational characteristic of visual and scalar-field…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Sufficiently perceiving the environment is a critical factor in robot motion generation. Although the introduction of deep visual processing models have contributed in extending this ability, existing methods lack in the ability to actively…
This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
Fillet welding is one of the most widespread types of welding in the industry, which is still carried out manually or automated by contact. This paper aims to describe an online programming system for noncontact fillet welding robots with U…
We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…