相关论文: "Set It Up!": Functional Object Arrangement with C…

Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…

It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…

Several recent works show impressive results in mapping language-based human commands and image scene observations to direct robot executable policies (e.g., pick and place poses). However, these approaches do not consider the uncertainty…

Recognizing precise geometrical configurations of groups of objects is a key capability of human spatial cognition, yet little studied in the deep learning literature so far. In particular, a fundamental problem is how a machine can learn…

In this paper, we propose a concept learning architecture that enables a robot to build symbols through self-exploration by interacting with a varying number of objects. Our aim is to allow a robot to learn concepts without constraints,…

Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stage method trained entirely on synthetic data, capable of…

In this paper, we propose and realize a new deep learning architecture for discovering symbolic representations for objects and their relations based on the self-supervised continuous interaction of a manipulator robot with multiple objects…

A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…

Towards addressing the Symbol Grounding Problem and motivated by early childhood language development, we leverage a robot which has been equipped with an approximate model of curiosity with particular focus on bottom-up building of…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

3D layout tasks have traditionally concentrated on geometric constraints, but many practical applications demand richer contextual understanding that spans social interactions, cultural traditions, and usage conventions. Existing methods…

As the intermediate-level representations bridging the two levels, structured representations of visual scenes, such as visual relationships between pairwise objects, have been shown to not only benefit compositional models in learning to…

For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…

Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…

Spatial understanding is a fundamental problem with wide-reaching real-world applications. The representation of spatial knowledge is often modeled with spatial templates, i.e., regions of acceptability of two objects under an explicit…

For robots to operate in a three dimensional world and interact with humans, learning spatial relationships among objects in the surrounding is necessary. Reasoning about the state of the world requires inputs from many different sensory…

We deal with the navigation problem where the agent follows natural language instructions while observing the environment. Focusing on language understanding, we show the importance of spatial semantics in grounding navigation instructions…

Discovering 3D arrangements of objects from single indoor images is important given its many applications including interior design, content creation, etc. Although heavily researched in the recent years, existing approaches break down…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…