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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
Multi-Perspective Anomaly Detection
Peter Jakob, Manav Madan, Tobias Schmid-Schirling, Abhinav Valad · 2021-05-21 · via cs.RO updates on arXiv.org

Anomaly detection is a critical problem in the manufacturing industry. In many applications, images of objects to be analyzed are captured from multiple perspectives which can be exploited to improve the robustness of anomaly detection. In this work, we build upon the deep support vector data description algorithm and address multi-perspective anomaly detection using three different fusion techniques, i.e., early fusion, late fusion, and late fusion with multiple decoders. We employ different augmentation techniques with a denoising process to deal with scarce one-class data, which further improves the performance (ROC AUC $= 80\%$). Furthermore, we introduce the dices dataset, which consists of over 2000 grayscale images of falling dices from multiple perspectives, with 5\% of the images containing rare anomalies (e.g., drill holes, sawing, or scratches). We evaluate our approach on the new dices dataset using images from two different perspectives and also benchmark on the standard MNIST dataset. Extensive experiments demonstrate that our proposed {multi-perspective} approach exceeds the state-of-the-art {single-perspective anomaly detection on both the MNIST and dices datasets}. To the best of our knowledge, this is the first work that focuses on addressing multi-perspective anomaly detection in images by jointly using different perspectives together with one single objective function for anomaly detection.