相关论文: Force Aware Branch Manipulation To Assist Agricult…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
We study the problem of learning to perform multi-stage robotic manipulation tasks, with applications to cable routing, where the robot must route a cable through a series of clips. This setting presents challenges representative of complex…
In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, such a system should be capable of learning new tasks with few…
Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data. Most…
The rise of machine learning methods on heavily resource constrained devices requires not only the choice of a suitable model architecture for the target platform, but also the optimization of the chosen model with regard to execution time…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
Enabling robots to learn novel tasks in a data-efficient manner is a long-standing challenge. Common strategies involve carefully leveraging prior experiences, especially transition data collected on related tasks. Although much progress…
This study is about the implementation of a reinforcement learning algorithm in the trajectory planning of manipulators. We have a 7-DOF robotic arm to pick and place the randomly placed block at a random target point in an unknown…
In the futuristic agricultural fields compatible with Agriculture 4.0, robots are envisaged to navigate through crops to perform functions like pesticide spraying and fruit harvesting, which are complex tasks due to factors such as…
Real-world applications require a robot operating in the physical world with awareness of potential risks besides accomplishing the task. A large part of risky behaviors arises from interacting with objects in ignorance of affordance. To…
Fruit distribution is pivotal in shaping the future of both agriculture and agricultural robotics, paving the way for a streamlined supply chain. This study introduces an innovative methodology that harnesses the synergy of RGB imagery,…
Modern herbicide application in agricultural settings typically relies on either large scale sprayers that dispense herbicide over crops and weeds alike or portable sprayers that require labor intensive manual operation. The former method…
This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…
Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuverability, and physical interaction with the environment,…
Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and…
Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant challenge for robotic picking, as traditional…
Automating tasks in outdoor agricultural fields poses significant challenges due to environmental variability, unstructured terrain, and diverse crop characteristics. We present a robotic system for autonomous pepper harvesting designed to…
Casting manipulation has been studied to expand the robot's movable range. In this manipulation, the robot throws and reaches the end effector to a distant target. Usually, a special casting manipulator, which consists of rigid arm links…
Crop management involves a series of critical, interdependent decisions or actions in a complex and highly uncertain environment, which exhibit distinct spatial and temporal variations. Managing resource inputs such as fertilizer and…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…