相关论文: Autonomous Quilt Spreading for Caregiving Robots

Bed-making is a universal home task that can be challenging for senior citizens due to reaching motions. Automating bed-making has multiple technical challenges such as perception in an unstructured environments, deformable object…

Fabric folding through robots is complex and challenging due to the deformability of fabric. Based on deconstruction strategy, we split the complex fabric folding task into three relatively simple sub-tasks, and propose a Deconstructed…

Assessment of spontaneous movements can predict the long-term developmental disorders in high-risk infants. In order to develop algorithms for automated prediction of later disorders, highly precise localization of segments and joints by…

Building on recent advancements in transformer based approaches for domestic robots performing knolling, the art of organizing scattered items into neat arrangements. This paper introduces Knolling bot 2.0. Recognizing the challenges posed…

In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed trajectory (including speed and acceleration) has a decisive…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

We propose the deep demixing (DDmix) model, a graph autoencoder that can reconstruct epidemics evolving over networks from partial or aggregated temporal information. Assuming knowledge of the network topology but not of the epidemic model,…

Wearable technology for the automatic detection of gait events has recently gained growing interest, enabling advanced analyses that were previously limited to specialist centres and equipment (e.g., instrumented walkway). In this study, we…

Although deep learning algorithms have proven their efficiency in automatic sleep staging, the widespread skepticism about their "black-box" nature has limited its clinical acceptance. In this study, we propose WaveSleepNet, an…

Artificial skin with the sense of touch can support robots to interact with the surrounding environment efficiently and accomplish complex tasks. Traditional multi-layered artificial skins require complex manufacturing processes which can…

Robotic cloth manipulation faces challenges due to the fabric's complex dynamics and the high dimensionality of configuration spaces. Previous methods have largely focused on isolated smoothing or folding tasks and overly reliant on…

Infants' spontaneous and voluntary movements mirror developmental integrity of brain networks since they require coordinated activation of multiple sites in the central nervous system. Accordingly, early detection of infants with atypical…

In this paper, given a random uniform distribution of sensor nodes on a 2-D plane, a fast self-organized distributed algorithm is proposed to find the maximum number of partitions of the nodes such that each partition is connected and…

Self-occlusion is challenging for cloth manipulation, as it makes it difficult to estimate the full state of the cloth. Ideally, a robot trying to unfold a crumpled or folded cloth should be able to reason about the cloth's occluded…

Cloth state estimation is an important problem in robotics. It is essential for the robot to know the accurate state to manipulate cloth and execute tasks such as robotic dressing, stitching, and covering/uncovering human beings. However,…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

The problem of autonomous transportation in industrial scenarios is receiving a renewed interest due to the way it can revolutionise internal logistics, especially in unstructured environments. This paper presents a novel architecture…

Infant pose monitoring during sleep has multiple applications in both healthcare and home settings. In a healthcare setting, pose detection can be used for region of interest detection and movement detection for noncontact based monitoring…

Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…

Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…