5 accepted papers
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a grocery shopping scenario in an actual, unmodified grocery store.…
We present a passive stereo depth system that produces dense and accurate point clouds optimized for human environments, including dark, textureless, thin, reflective and specular surfaces and objects, at 2560 × 2048 resolution, with 384 disparities, in 30 ms. The system consists of an algorithm com
We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is enabled by a highly capable mobile manipulation robot, whole-bo…
This paper presents diffusion filtering as a method to smooth signals defined on the nodes of a graph or network. Diffusion filtering considers the given signals as initial temperature distributions in the nodes and diffuses heat through the edges of the graph. The filtered signal is determined by t…
The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called “supervised-autonomy” is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation th…