11 accepted papers
Over the last years, powerful methods for solving specific perception problems such as object detection, pose estimation or scene understanding have been developed. While performing mobile manipulation actions, a robot’s perception framework needs to execute a series of these methods in a specific s…
Estimating the pose of an object is essential for robot manipulation. In many applications the spatial and geometric relations between the object and the other parts of the world, e.g. the relation between the object and its supporting plane, are a-priori known or can be assumed with a certain accur
In this paper, we present an experiment, designed to investigate and evaluate the scalability and the robustness aspects of mobile manipulation. The experiment involves performing variations of mobile pick and place actions and opening/closing environment containers in a human household. The robot i…
In this paper, we present an approach and an implemented pipeline for transferring data acquired from observing humans in virtual environments onto robots acting in the real world, and adapting the data accordingly to achieve successful task execution. We demonstrate our pipeline by inferring seven…
In this paper, we present an approach and an implemented framework for applying plan transformations to real-world mobile manipulation plans, in order to specialize them to the specific situation at hand. The framework can improve execution cost and achieve better performance by autonomously transfo…
Plan execution on real robots in realistic environments is underdetermined and often leads to failures. The choice of action parameterization is crucial for task success. In this paper, we present a mechanism for a robot that is acting in a real-world environment to think ahead of time with fast pla…
For robots to work outside of laboratory settings, their plans should be applicable to a variety of environments, objects, task contexts, and hardware platforms. This requires general-purpose methods that are, at this moment, not sufficiently performant for real-world applications. We propose an app
With the advancements in robotic technology and the progress in human-robot interaction research, the interest in deploying mixed human-robot teams in rescue missions is increasing. Due to their complementary capabilities in terms of locomotion, visibility and reachability of areas, human-robot team…
To enable robots to perform human-level tasks flexibly in varying conditions, we need a mechanism that allows them to exchange knowledge between themselves for crowd-sourcing the knowledge gap problem. One approach to achieve this is to equip a cloud application with a range of encyclopedic knowledg…
To enable robots to perform human-level tasks flexibly in varying conditions, we need a mechanism that allows them to exchange knowledge between themselves for crowd-sourcing the knowledge gap problem. One approach to achieve this is to equip a cloud application with a range of encyclopedic knowledg
This paper tackles the problem of generalizing robot control programs over multiple objects, tasks and environments, based on the concept of action descriptions. These are abstract, general, semantic descriptions of an action that are augmented during execution with subsymbolic parameters specific t…