相关论文: Two by Two: Learning Multi-Task Pairwise Objects A…
For various automated palletizing tasks, the detection of packaging units is a crucial step preceding the actual handling of the packaging units by an industrial robot. We propose an approach to this challenging problem that is fully…
We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…
The problem of mating two parts with low clearance remains difficult for autonomous robots. We present bi-level belief assembly (BILBA), a model-based planner that computes a sequence of compliant motions which can leverage contact with the…
Assembling parts into an object is a combinatorial problem that arises in a variety of contexts in the real world and involves numerous applications in science and engineering. Previous related work tackles limited cases with identical unit…
Sets have been used for modeling various types of objects (e.g., a document as the set of keywords in it and a customer as the set of the items that she has purchased). Measuring similarity (e.g., Jaccard Index) between sets has been a key…
This paper introduces a pioneering experimental study on the automated packing of a catering package using a two-fingered gripper affixed to a 3-degree-of-freedom Delta parallel robot. A distinctive contribution lies in the application of a…
This paper introduces the Australian Supermarket Object Set (ASOS), a comprehensive dataset comprising 50 readily available supermarket items with high-quality 3D textured meshes designed for benchmarking in robotics and computer vision…
It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…
This paper proposes an assembly sequence planning framework, named Subassembly to Assembly (S2A). The framework is designed to enable a robotic manipulator to assemble multiple parts in a prespecified structure by leveraging object…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Among the most important prerequisites for creating and evaluating 6D object pose detectors are datasets with labeled 6D poses. With the advent of deep learning, demand for such datasets is growing continuously. Despite the fact that some…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Physical products are often complex assemblies combining a multitude of 3D parts modeled in computer-aided design (CAD) software. CAD designers build up these assemblies by aligning individual parts to one another using constraints called…
Estimating the pose of animals can facilitate the understanding of animal motion which is fundamental in disciplines such as biomechanics, neuroscience, ethology, robotics and the entertainment industry. Human pose estimation models have…
We introduce the Densely Segmented Supermarket (D2S) dataset, a novel benchmark for instance-aware semantic segmentation in an industrial domain. It contains 21,000 high-resolution images with pixel-wise labels of all object instances. The…
Interactive and spatially aware technologies are transforming educational frameworks, particularly in K-12 settings where hands-on exploration fosters deeper conceptual understanding. However, during collaborative tasks, existing systems…
State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…
In this paper, we define and study a new Cloth2Body problem which has a goal of generating 3D human body meshes from a 2D clothing image. Unlike the existing human mesh recovery problem, Cloth2Body needs to address new and emerging…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…