相关论文: AVR: Active Vision-Driven Precise Robot Manipulati…

Occlusion is a longstanding difficulty that challenges the UAV-based object detection. Many works address this problem by adapting the detection model. However, few of them exploit that the UAV could fundamentally improve detection…

Recently, active vision has reemerged as an important concept for manipulation, since visual occlusion occurs more frequently when main cameras are mounted on the robot heads. We reflect on the visual occlusion issue and identify its…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation. A common design in current architectures maps language instructions and visual observations to actions in a single forward pass.…

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Robot navigation with deep reinforcement learning (RL) achieves higher performance and performs well under complex environment. Meanwhile, the interpretation of the decision-making of deep RL models becomes a critical problem for more…

Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…

Ensuring human safety is of paramount importance in warehouse environments that feature mixed traffic of human workers and autonomous mobile robots (AMRs). Current approaches often treat humans as generic dynamic obstacles, leading to…

The need for automated real-time visual systems in applications such as smart camera surveillance, smart environments, and drones necessitates the improvement of methods for visual active monitoring and control. Traditionally, the active…

This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

As a result of an increasingly automatized and digitized industry, processes are becoming more complex. Augmented Reality has shown considerable potential in assisting workers with complex tasks by enhancing user understanding and…

Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…

In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-based robotic grasping methods implicitly assume target objects…

Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing…

Visual reinforcement learning (RL) suffers from poor sample efficiency due to high-dimensional observations in complex tasks. While existing works have shown that vision-language models (VLMs) can assist RL, they often focus on knowledge…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

We propose Avi, a novel 3D Vision-Language-Action (VLA) architecture that reframes robotic action generation as a problem of 3D perception and spatial reasoning, rather than low-level policy learning. While existing VLA models primarily…

Drone Visual Active Tracking aims to autonomously follow a target object by controlling the motion system based on visual observations, providing a more practical solution for effective tracking in dynamic environments. However, accurate…