相关论文: T-REX: Vision-Based System for Autonomous Leaf Det…
To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required, the sizes of which directly affect the rate of successful grasps. To…
In order to promote agricultural automatic picking and yield estimation technology, this project designs a set of automatic detection, positioning and counting algorithms for grape bunches, and applies it to agricultural robots. The Yolov3…
Task-oriented grasping (TOG) is crucial for robots to accomplish manipulation tasks, requiring the determination of TOG positions and directions. Existing methods either rely on costly manual TOG annotations or only extract coarse grasping…
Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping…
Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…
Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Autonomous harvesting in the open presents a complex manipulation problem. In most scenarios, an autonomous system has to deal with significant occlusion and require interaction in the presence of large structural uncertainties (every plant…
Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer…
Numerical simulations and observations show that galaxies are not uniformly distributed in the universe but, rather, they are spread across a filamentary structure. In this large-scale pattern, highly dense regions are linked together by…
Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…
Using robots to harvest sweet peppers in protected cropping environments has remained unsolved despite considerable effort by the research community over several decades. In this paper, we present the robotic harvester, Harvey, designed for…
Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…
Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…
Purpose: Fast detection of plant stress is key to plant phenotyping, precision agriculture, and automated crop management. In particular, efficient irrigation management requires early identification of water stress to optimize resource use…
Reducing the use of agrochemicals is an important component towards sustainable agriculture. Robots that can perform targeted weed control offer the potential to contribute to this goal, for example, through specialized weeding actions such…
A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…
Accurately identifying lychee-picking points in unstructured orchard environments and obtaining their coordinate locations is critical to the success of lychee-picking robots. However, traditional two-dimensional (2D) image-based object…
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…
Robots-based smart pharmacies are essential for modern healthcare systems, enabling efficient drug delivery. However, a critical challenge exists in the robotic handling of drugs with varying shapes and overlapping positions, which previous…