相关论文: Detection, Recognition and Pose Estimation of Tabl…

Predicting human performance in interaction tasks allows designers or developers to understand the expected performance of a target interface without actually testing it with real users. In this work, we present a deep neural net to model…

This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…

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…

The present paper is concerned with deep learning techniques applied to detection and localization of damage in a thin aluminum plate. We used data collected on a tabletop apparatus by mounting to the plate four piezoelectric transducers,…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of objects has been noted to be an important benchmark for AI…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

In this thesis, we study multiple tasks related to document layout analysis such as the detection of text lines, the splitting into acts or the detection of the writing support. Thus, we propose two deep neural models following two…

In this paper, we propose multi-stage and deformable deep convolutional neural networks for object detection. This new deep learning object detection diagram has innovations in multiple aspects. In the proposed new deep architecture, a new…

This is a research exploring existing models and fine tuning them to combine a YOLOv8 segmentation model, a LSTM model trained on hand point motion sequence and a ASR (whisper-base) to extract enough data for a LLM (TinyLLaMa) to predict…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

Object detection is a fundamental visual recognition problem in computer vision and has been widely studied in the past decades. Visual object detection aims to find objects of certain target classes with precise localization in a given…

Deep Convolutional Neural Networks (DCNN) have been proven to be effective for various computer vision problems. In this work, we demonstrate its effectiveness on a continuous object orientation estimation task, which requires prediction of…

Mixture models are well-established learning approaches that, in computer vision, have mostly been applied to inverse or ill-defined problems. However, they are general-purpose divide-and-conquer techniques, splitting the input space into…

In this work, we propose a method for object recognition and pose estimation from depth images using convolutional neural networks. Previous methods addressing this problem rely on manifold learning to learn low dimensional viewpoint…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…

This work presents a neural network model capable of recognizing small and tiny objects in thermal images collected by unmanned aerial vehicles. Our model consists of three parts, the backbone, the neck, and the prediction head. The…

In the task of Object Recognition, there exists a dichotomy between the categorization of objects and estimating object pose, where the former necessitates a view-invariant representation, while the latter requires a representation capable…

Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…