Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue.
In this work, we present a zero-shot volumetric open-vocabulary semantic scene segmentation method.
Methods have recently been proposed that densely segment 3D volumes into classes using only color images and expert supervision in the form of sparse semantically annotated pixels.
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection.
This work investigates the use of Neural implicit representations, specifically Neural Radiance Fields (NeRF), for geometrical queries and motion planning.
In this work, we present a full object keypoint tracking toolkit, encompassing the entire process from data collection, labeling, model learning and evaluation.
Consequently, by restricting the base ODE to be amenable to integration, we can speed up and improve the robustness of integrating trajectories from the learned system.
This distribution is then used as a prior to a constrained optimisation problem which enforces chance constraints on the trajectory distribution.
Advances in differentiable numerical integrators have enabled the use of gradient descent techniques to learn ordinary differential equations (ODEs).
Quantification of uncertainty in point cloud matching is critical in many tasks such as pose estimation, sensor fusion, and grasping.
However, the efficient and effective data collection for such a data-driven system on real robots is still an open challenge.
Robotics Systems and Control Systems and Control
General robot grasping in clutter requires the ability to synthesize grasps that work for previously unseen objects and that are also robust to physical interactions, such as collisions with other objects in the scene.
Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements.
With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations.
Accurate simulation of complex physical systems enables the development, testing, and certification of control strategies before they are deployed into the real systems.
Balancing exploration and exploitation is a fundamental part of reinforcement learning, yet most state-of-the-art algorithms use a naive exploration protocol like $\epsilon$-greedy.
Inverse problems are ubiquitous in natural sciences and refer to the challenging task of inferring complex and potentially multi-modal posterior distributions over hidden parameters given a set of observations.
This generally involves the prediction and understanding of motion patterns of dynamic entities, such as vehicles and people, in the surroundings.
However, they are prone to local minima, resulting in sub-optimal trajectories, and sometimes do not reach global coverage.
Sensors producing 3D point clouds such as 3D laser scanners and RGB-D cameras are widely used in robotics, be it for autonomous driving or manipulation.
Understanding the dynamics of an environment, such as the movement of humans and vehicles, is crucial for agents to achieve long-term autonomy in urban environments.
Our framework decomposes transition dynamics into skill effects and success conditions, which allows fast planning by reasoning on effects, while learning conditions from interactions with the world.
In this context, we propose an upper confidence bound (UCB) algorithm for BO problems where both the outcome of a query and the true query location are uncertain.
On the other hand, the cost to evaluate the policy's performance might also be high, being desirable that a solution can be found with as few interactions as possible with the real system.
In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform.
The proposed method is evaluated on images and 3D point cloud data gathered in urban environments where image data provides the appearance features needed by the CRF, while the 3D point cloud data provides global spatial constraints over sets of nodes.
We consider the problem of building continuous occupancy representations in dynamic environments for robotics applications.
As more data is collected sequentially, quickly adapting to changes in the data distribution can offer several competitive advantages such as avoiding loss of prior knowledge and more efficient learning.
This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications.
We present and contrast three relaxations to the integer program formulation: (i) a linear programming formulation (LP) (ii) an extension of affinity propagation to outlier detection (APOC) and (iii) a Lagrangian duality based formulation (LD).