相关论文: PUGS: Perceptual Uncertainty for Grasp Selection i…

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…

Perception-for-grasping is a challenging problem in robotics. Inexpensive range sensors such as the Microsoft Kinect provide sensing capabilities that have given new life to the effort of developing robust and accurate perception methods…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

This paper introduces DGBench, a fully reproducible open-source testing system to enable benchmarking of dynamic grasping in environments with unpredictable relative motion between robot and object. We use the proposed benchmark to compare…

We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…

Human motion prediction is consisting in forecasting future body poses from historically observed sequences. It is a longstanding challenge due to motion's complex dynamics and uncertainty. Existing methods focus on building up complicated…

Reliable navigation in cluttered environments requires perception outputs that are not only accurate but also equipped with uncertainty sets suitable for safe control. An inverse perception contract (IPC) provides such a connection by…

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…

Multi-view implicit scene reconstruction methods have become increasingly popular due to their ability to represent complex scene details. Recent efforts have been devoted to improving the representation of input information and to reducing…

Reconstructing multi-human body mesh from a single monocular image is an important but challenging computer vision problem. In addition to the individual body mesh models, we need to estimate relative 3D positions among subjects to generate…

This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…

Robotic grasping in scenes with transparent and specular objects presents great challenges for methods relying on accurate depth information. In this paper, we introduce NeuGrasp, a neural surface reconstruction method that leverages…

In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…