相关论文: JENGA: Object selection and pose estimation for ro…

Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…

In multiple realistic settings, a robot is tasked with grasping an object without knowing its exact pose and relies on a probabilistic estimation of the pose to decide how to attempt the grasp. We support settings in which it is possible to…

Accurate object pose estimation using multi-modal perception such as visual and tactile sensing have been used for autonomous robotic manipulators in literature. Due to variation in density of visual and tactile data, we previously proposed…

Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

This paper focuses on robotic picking tasks in cluttered scenario. Because of the diversity of poses, types of stack and complicated background in bin picking situation, it is much difficult to recognize and estimate their pose before…

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…

Controlled manipulation of multiple objects whose dynamics are closely linked is a challenging problem within contact-rich manipulation, requiring an understanding of how the movement of one will impact the others. Using the Jenga game as a…

Object manipulation in cluttered scenes is a difficult and important problem in robotics. To efficiently manipulate objects, it is crucial to understand their surroundings, especially in cases where multiple objects are stacked one on top…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

3D reconstruction serves as the foundational layer for numerous robotic perception tasks, including 6D object pose estimation and grasp pose generation. Modern 3D reconstruction methods for objects can produce visually and geometrically…

This paper presents the development of a control system for vision-guided pick-and-place tasks using a robot arm equipped with a 3D camera. The main steps include camera intrinsic and extrinsic calibration, hand-eye calibration, initial…

Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6-DoF pose estimation represents an important step toward…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…

Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and reconstruction quality with chamfer distance. In this work…