惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

博客园_首页
B
Blog RSS Feed
Microsoft Azure Blog
Microsoft Azure Blog
J
Java Code Geeks
Cyber Security Advisories - MS-ISAC
Cyber Security Advisories - MS-ISAC
Google DeepMind News
Google DeepMind News
F
Fortinet All Blogs
V
V2EX
freeCodeCamp Programming Tutorials: Python, JavaScript, Git & More
Engineering at Meta
Engineering at Meta
月光博客
月光博客
阮一峰的网络日志
阮一峰的网络日志
M
MIT News - Artificial intelligence
IT之家
IT之家
博客园 - 【当耐特】
U
Unit 42
云风的 BLOG
云风的 BLOG
L
LangChain Blog
小众软件
小众软件
Microsoft Security Blog
Microsoft Security Blog
B
Blog
H
Hackread – Cybersecurity News, Data Breaches, AI and More
宝玉的分享
宝玉的分享
N
Netflix TechBlog - Medium

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
Component Selection for Craft Assembly Tasks
2024-07-19 · via cs.RO updates on arXiv.org

Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of a given target object using the available objects, which do not directly correspond to its parts. In this work, we focus on selecting the subset of available objects for the final craft, when the given input is an RGB image of the target in the wild. We use a mask segmentation neural network to identify visible parts, followed by retrieving labelled template meshes. These meshes undergo pose optimization to determine the most suitable template. Then, we propose to simplify the parts of the transformed template mesh to primitive shapes like cuboids or cylinders. Finally, we design a search algorithm to find correspondences in the scene based on local and global proportions. We develop baselines for comparison that consider all possible combinations, and choose the highest scoring combination for common metrics used in foreground maps and mask accuracy. Our approach achieves comparable results to the baselines for two different scenes, and we show qualitative results for an implementation in a real-world scenario.