相关论文: Component Selection for Craft Assembly Tasks

We define the concept of CompositeTasking as the fusion of multiple, spatially distributed tasks, for various aspects of image understanding. Learning to perform spatially distributed tasks is motivated by the frequent availability of only…

We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily…

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…

In this paper, we are interested in the problem of generating target grasps by understanding freehand sketches. The sketch is useful for the persons who cannot formulate language and the cases where a textual description is not available on…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

Most of computer vision focuses on what is in an image. We propose to train a standalone object-centric context representation to perform the opposite task: seeing what is not there. Given an image, our context model can predict where…

Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…

Many computer vision tasks address the problem of scene understanding and are naturally interrelated e.g. object classification, detection, scene segmentation, depth estimation, etc. We show that we can leverage the inherent relationships…

A crucial ability of human intelligence is to build up models of individual 3D objects from partial scene observations. Recent works achieve object-centric generation but without the ability to infer the representation, or achieve 3D scene…

Optical projection tomography (OPT) is a powerful tool for biomedical studies. It achieves 3D visualization of mesoscopic biological samples with high spatial resolution using conventional tomographic-reconstruction algorithms. However,…

Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…

Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…

A key requirement for generalist robots is compositional generalization - the ability to combine atomic skills to solve complex, long-horizon tasks. While prior work has primarily focused on synthesizing a planner that sequences pre-learned…

Robotic assembly is one of the oldest and most challenging applications of robotics. In other areas of robotics, such as perception and grasping, simulation has rapidly accelerated research progress, particularly when combined with modern…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…

Computer vision tasks typically involve describing what is present in an image (e.g. classification, detection, segmentation, and captioning). We study a visual common sense task that requires understanding what is not present.…

We build rearticulable models for arbitrary everyday man-made objects containing an arbitrary number of parts that are connected together in arbitrary ways via 1 degree-of-freedom joints. Given point cloud videos of such everyday objects,…

Shape fabrication from developable parts is the basis for arts such as papercraft and needlework, as well as modern architecture and CAD in general, and it has inspired much research. We observe that the assembly of complex 3D shapes…

We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…