相关论文: IMPACT: A Dataset for Multi-Granularity Human Proc…
Advanced service robots require superior tactile intelligence to guarantee human-contact safety and to provide essential supplements to visual and auditory information for human-robot interaction, especially when a robot is in physical…
The ongoing trend towards Industry 4.0 has revolutionised ordinary workplaces, profoundly changing the role played by humans in the production chain. Research on ergonomics in industrial settings mainly focuses on reducing the operator's…
Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is challenging, since task-relevant grasp labels are hard to…
This paper addresses the scarcity of large-scale datasets for accurate object-in-hand pose estimation, which is crucial for robotic in-hand manipulation within the ``Perception-Planning-Control" paradigm. Specifically, we introduce VinT-6D,…
We present the Human And Robot Multimodal Observations of Natural Interactive Collaboration (HARMONIC) data set. This is a large multimodal data set of human interactions with a robotic arm in a shared autonomy setting designed to imitate…
Efficiently detecting human intent to interact with ubiquitous robots is crucial for effective human-robot interaction (HRI) and collaboration. Over the past decade, deep learning has gained traction in this field, with most existing…
Existing visual trackers mainly operate in a non-interactive, fire-and-forget manner, making them impractical for real-world scenarios that require human-in-the-loop adaptation. To overcome this limitation, we introduce Interactive…
Indoor environments lack the spatial intelligence infrastructure that GPS provides outdoors; first responders arriving at unfamiliar buildings typically have no machine-readable map of safety equipment. Prior work on 3D semantic…
Advances in deep generative modeling have made it increasingly plausible to train human-level embodied agents. Yet progress has been limited by the absence of large-scale, real-time, multi-modal, and socially interactive datasets that…
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must plan and execute concatenated sequences of actions on a…
The Intermeshed Steel Connection (ISC) system, when paired with robotic manipulators, can accelerate steel-frame assembly and improve worker safety by eliminating manual assembly. Dependable perception is one of the initial stages for…
Object perception is fundamental for tasks such as robotic material handling and quality inspection. However, modern supervised deep-learning models require large annotated datasets for robust automation under semi-uncontrolled conditions;…
Direct measurement ergonomic assessment is reshaping occupational safety by facilitating highly reliable risk estimation. Industry 5.0, advocating human-centricity, has catalysed increasing adoption of direct measurement tools in…
We introduce XYZ-IBD, a bin-picking dataset for 6D pose estimation that captures real-world industrial complexity, including challenging object geometries, reflective materials, severe occlusions, and dense clutter. The dataset reflects…
Humans constantly interact with daily objects to accomplish tasks. To understand such interactions, computers need to reconstruct these from cameras observing whole-body interaction with scenes. This is challenging due to occlusion between…
As Industry 4.0 progresses, flexible manufacturing has become a cornerstone of modern industrial systems, with equipment automation playing a pivotal role. However, existing control software for industrial equipment, typically reliant on…
The use of RGB-D information for salient object detection has been extensively explored in recent years. However, relatively few efforts have been put towards modeling salient object detection in real-world human activity scenes with RGBD.…
We introduce the first universal pretraining corpus for industrial time-series data: FactoryNet. 51M datapoints across 23k end-to-end task executions (13.3k real, 9.8k synthetic) on six embodiments, unified by a shared schema that enables…
We address key challenges in Dataset Aggregation (DAgger) for real-world contact-rich manipulation: how to collect informative human correction data and how to effectively update policies with this new data. We introduce Compliant Residual…
Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…