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Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…
Wood is a volumetric material with a very large appearance gamut that is further enlarged by numerous finishing techniques. Computer graphics has made considerable progress in creating sophisticated and flexible appearance models that allow…
Contact-rich manipulation tasks are commonly found in modern manufacturing settings. However, manually designing a robot controller is considered hard for traditional control methods as the controller requires an effective combination of…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
Recognizing an object's material can inform a robot on the object's fragility or appropriate use. To estimate an object's material during manipulation, many prior works have explored the use of haptic sensing. In this paper, we explore a…
This paper describes a method of estimating the traversability of plant parts covering a path and navigating through them for mobile robots operating in plant-rich environments. Conventional mobile robots rely on scene recognition methods…
In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…
Mobile robots operating in unknown urban environments encounter a wide range of complex terrains to which they must adapt their planned trajectory for safe and efficient navigation. Most existing approaches utilize supervised learning to…
We propose to compose dynamic tree structures that place the objects in an image into a visual context, helping visual reasoning tasks such as scene graph generation and visual Q&A. Our visual context tree model, dubbed VCTree, has two key…
This paper presents a novel non-invasive object classification approach using acoustic scattering, demonstrated through a case study on hair assessment. When an incident wave interacts with an object, it generates a scattered acoustic field…
Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots to distinguish material properties such as their local geometry and textures, especially for materials like textiles. However, most tactile…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Interacting with bins and containers is a fundamental task in robotics, making state estimation of the objects inside the bin critical. While robots often use cameras for state estimation, the visual modality is not always ideal due to…
By-tree information gathering is an essential task in precision agriculture achieved by ground mobile sensors, but it can be time- and labor-intensive. In this paper we present an algorithmic framework to perform real-time and on-the-go…
Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are…
If a robot is supposed to roam an environment and interact with objects, it is often necessary to know all possible objects in advance, so that a database with models of all objects can be generated for visual identification. However, this…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
In many applications, robots are increasingly deployed in unstructured and natural environments where they encounter various types of vegetation. Vegetation presents unique challenges as a traversable obstacle, where the mechanical…