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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
deepNIR: Datasets for generating synthetic NIR images and...
Inkyu Sa, JongYoon Lim, Ho Seok Ahn, Bruce MacDonald · 2022-03-17 · via cs.RO updates on arXiv.org

This paper presents datasets utilised for synthetic near-infrared (NIR) image generation and bounding-box level fruit detection systems. It is undeniable that high-calibre machine learning frameworks such as Tensorflow or Pytorch, and large-scale ImageNet or COCO datasets with the aid of accelerated GPU hardware have pushed the limit of machine learning techniques for more than decades. Among these breakthroughs, a high-quality dataset is one of the essential building blocks that can lead to success in model generalisation and the deployment of data-driven deep neural networks. In particular, synthetic data generation tasks often require more training samples than other supervised approaches. Therefore, in this paper, we share the NIR+RGB datasets that are re-processed from two public datasets (i.e., nirscene and SEN12MS) and our novel NIR+RGB sweet pepper(capsicum) dataset. We quantitatively and qualitatively demonstrate that these NIR+RGB datasets are sufficient to be used for synthetic NIR image generation. We achieved Frechet Inception Distance (FID) of 11.36, 26.53, and 40.15 for nirscene1, SEN12MS, and sweet pepper datasets respectively. In addition, we release manual annotations of 11 fruit bounding boxes that can be exported as various formats using cloud service. Four newly added fruits [blueberry, cherry, kiwi, and wheat] compound 11 novel bounding box datasets on top of our previous work presented in the deepFruits project [apple, avocado, capsicum, mango, orange, rockmelon, strawberry]. The total number of bounding box instances of the dataset is 162k and it is ready to use from cloud service. For the evaluation of the dataset, Yolov5 single stage detector is exploited and reported impressive mean-average-precision,mAP[0.5:0.95] results of[min:0.49, max:0.812]. We hope these datasets are useful and serve as a baseline for the future studies.