相关论文: Component Selection for Craft Assembly Tasks

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

Assembly modeling is a core task of computer aided design (CAD), comprising around one third of the work in a CAD workflow. Optimizing this process therefore represents a huge opportunity in the design of a CAD system, but current research…

Reasoning 3D shapes from 2D images is an essential yet challenging task, especially when only single-view images are at our disposal. While an object can have a complicated shape, individual parts are usually close to geometric primitives…

An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…

Automotive manufacturing assembly tasks are built upon visual inspections such as scratch identification on machined surfaces, part identification and selection, etc, which guarantee product and process quality. These tasks can be related…

Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

Segmenting object parts such as cup handles and animal bodies is important in many real-world applications but requires more annotation effort. The largest dataset nowadays contains merely two hundred object categories, implying the…

In this work, we present a fast target detection framework for real-world robotics applications. Considering that an intelligent agent attends to a task-specific object target during execution, our goal is to detect the object efficiently.…

We study the problem of translating an image-based, step-by-step assembly manual created by human designers into machine-interpretable instructions. We formulate this problem as a sequential prediction task: at each step, our model reads…

Object parts serve as crucial intermediate representations in various downstream tasks, but part-level representation learning still has not received as much attention as other vision tasks. Previous research has established that Vision…

Matrix approximation is a common tool in machine learning for building accurate prediction models for recommendation systems, text mining, and computer vision. A prevalent assumption in constructing matrix approximations is that the…

Despite recent improvements in computer vision, artificial visual systems' design is still daunting since an explanation of visual computing algorithms remains elusive. Salient object detection is one problem that is still open due to the…

Recent advances in augmented reality (AR) have enabled interactive systems that assist users in physical assembly tasks. In this paper, we present an AR-assisted assembly workflow that leverages object recognition and hand tracking to (1)…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

Combinatorial assembly uses standardized unit primitives to build objects that satisfy user specifications. This paper studies assembly sequence planning (ASP) for physical combinatorial assembly. Given the shape of the desired object, the…

Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technologies and their application to challenging industrial…

Robotic assembly remains a significant challenge due to complexities in visual perception, functional grasping, contact-rich manipulation, and performing high-precision tasks. Simulation-based learning and sim-to-real transfer have led to…

In this paper, we present an easy to use sketch-based interface to extract geometries and generate affordance files from 3D point clouds for robot-object interaction tasks. Using our system, even novice users can perform robot task planning…