7 accepted papers
In-context imitation learning (ICIL) is a new paradigm that enables robots to generalize from demonstrations to unseen tasks without retraining. A well-structured action representation is the key to capturing demonstration information effectively, yet action tokenizer (the process of discretizing an
Grasp detection is a fundamental robotic task critical to the success of many industrial applications. However, current language-driven models for this task often struggle with cluttered images, lengthy textual descriptions, or slow inference speed. We introduce GraspMamba, a new language-driven gra
Visual placerecognition needs to be robust against appearance variability due to natural and man-made causes. Training data collection should thus be an ongoing process to allow continuous appearance changes to be recorded. However, this creates an unboundedly-growing database that poses time and me
In this paper, we present a monocular Direct and Semi-dense SLAM (Simultaneous Localization And Mapping) system for rolling shutter cameras. In a rolling shutter camera, the pose is different for each row of each image, and this yields poor pose estimates and poor structure estimates when using a st
We consider the question of benchmarking the performance of methods used for estimating the depth of a scene from a single image. We describe various measures that have been used in the past, discuss their limitations and demonstrate that each is deficient in one or more ways. We propose a new measu…
We explore the capabilities of Auto-Encoders to fuse the information available from cameras and depth sensors, and to reconstruct missing data, for scene understanding tasks. In particular we consider three input modalities: RGB images; depth images; and semantic label information. We seek to genera…
We propose a semantic scene understanding system that is suitable for real robotic operations. The system solves different tasks (semantic segmentation and object detections) in an opportunistic and distributed fashion but still allows communication between modules to improve their respective perfor…