相关论文: Object State Estimation Through Robotic Active Int…

High performance materials, from natural bone over ancient damascene steel to modern superalloys, typically possess a complex structure at the microscale. Their properties exceed those of the individual components and their knowledge-based…

Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…

Pose estimation, tracking, and action recognition of articulated objects from depth images are important and challenging problems, which are normally considered separately. In this paper, a unified paradigm based on Lie group theory is…

The process of fish cage inspections, which is a necessary maintenance task at any fish farm, be it small scale or industrial, is a task that has the potential to be fully automated. Replacing trained divers who perform regular inspections…

In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…

Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We…

In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This imposes very strict constraints on the object pose such that…

To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…

We present an active learning algorithm for the problem of body schema learning, i.e. estimating a kinematic model of a serial robot. The learning process is done online using Recursive Least Squares (RLS) estimation, which outperforms…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

Animal biometrics is a challenging task. In the literature, many algorithms have been used, e.g. penguin chest recognition, elephant ears recognition and leopard stripes pattern recognition, but to use technology to a large extent in this…

Accurately estimating human internal states, such as personality traits or behavioral patterns, is critical for enhancing the effectiveness of human-robot interaction, particularly in group settings. These insights are key in applications…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…

Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

We reconstruct 3D deformable object through time, in the context of a live pottery making process where the crafter molds the object. Because the object suffers from heavy hand interaction, and is being deformed, classical techniques cannot…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…