7 accepted papers
In medical laboratory environments, where pre-cision and safety are critical, the deployment of autonomous robots requires not only accurate object manipulation but also the ability to verify task success to comply with regulatory requirements. This paper introduces a novel imagination-enabled perce
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…
In our previous work, we designed a human-like white-box and causal generative model of perception NaivPhys4RP, essentially based on cognitive emulation to understand the past, the present and the future of the state of complex worlds from poor observations. In this paper, as recommended in that pre
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
Many of today’s robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to accomplish manipulation tasks. Typically the perception results do…
The development of high-performance perception for mobile robotic agents is still challenging. Learning appropriate perception models usually requires extensive amounts of labeled training data that ideally follows the same distribution as the data an agent will encounter in its target task. Recent…
Mobile robots operating in a human environment face the challenge of recognizing objects that possess a multitude of different visual characteristics, affordances, and are found in visually challenging scenes. Because of this, perceptual capabilities of such robots need to go beyond detection or cat