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09/17/2023
Reactive Base Control for On-The-Move Mobile Manipulation in Dynamic Environments
We present a reactive base control method that enables high performance ...
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08/01/2023
Understanding URDF: A Dataset and Analysis
As the complexity of robot systems increases, it becomes more effective ...
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07/28/2023
Robotic Vision for Human-Robot Interaction and Collaboration: A Survey and Systematic Review
Robotic vision for human-robot interaction and collaboration is a critic...
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05/15/2023
Enabling Failure Recovery for On-The-Move Mobile Manipulation
We present a robot base placement and control method that enables a mobi...
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03/29/2023
The Need for Inherently Privacy-Preserving Vision in Trustworthy Autonomous Systems
Vision is a popular and effective sensor for robotics from which we can ...
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03/12/2023
Re-evaluating Parallel Finger-tip Tactile Sensing for Inferring Object Adjectives: An Empirical Study
Finger-tip tactile sensors are increasingly used for robotic sensing to ...
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02/26/2023
Understanding URDF: A Survey Based on User Experience
With the increasing complexity of robot systems, it is necessary to simu...
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12/14/2022
An Architecture for Reactive Mobile Manipulation On-The-Move
We present a generalised architecture for reactive mobile manipulation w...
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11/05/2022
Learning Fabric Manipulation in the Real World with Human Videos
Fabric manipulation is a long-standing challenge in robotics due to the ...
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07/05/2022
Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications
Manipulator kinematics is concerned with the motion of each link within ...
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07/05/2022
Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications
This is the second and final article on the tutorial on manipulator diff...
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04/29/2022
Eyes on the Prize: Improved Perception for Robust Dynamic Grasping
This paper is concerned with perception challenges for robust grasping i...
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02/25/2022
Visibility Maximization Controller for Robotic Manipulation
Occlusions caused by a robot's own body is a common problem for closed-l...
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09/10/2021
A Holistic Approach to Reactive Mobile Manipulation
We present the design and implementation of a taskable reactive mobile m...
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08/19/2021
FSNet: A Failure Detection Framework for Semantic Segmentation
Semantic segmentation is an important task that helps autonomous vehicle...
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04/15/2021
Tabletop Object Rearrangement: Team ACRV's Entry to OCRTOC
Open Cloud Robot Table Organization Challenge (OCRTOC) is one of the mos...
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03/29/2021
Refractive Light-Field Features for Curved Transparent Objects in Structure from Motion
Curved refractive objects are common in the human environment, and have ...
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01/05/2021
Run-Time Monitoring of Machine Learning for Robotic Perception: A Survey of Emerging Trends
As deep learning continues to dominate all state-of-the-art computer vis...
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01/02/2021
Semantics for Robotic Mapping, Perception and Interaction: A Survey
For robots to navigate and interact more richly with the world around th...
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10/17/2020
A Systematic Approach to Computing the Manipulator Jacobian and Hessian using the Elementary Transform Sequence
The elementary transform sequence (ETS) provides a universal method of d...
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10/17/2020
NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators
We present NEO, a fast and purely reactive motion controller for manipul...
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10/07/2020
Learning Arbitrary-Goal Fabric Folding with One Hour of Real Robot Experience
Manipulating deformable objects, such as fabric, is a long standing prob...
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06/02/2020
Object-Independent Human-to-Robot Handovers using Real Time Robotic Vision
We present an approach for safe and object-independent human-to-robot ha...
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03/03/2020
EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation
We present the Evolved Grasping Analysis Dataset (EGAD), comprising over...
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02/27/2020
Maximising Manipulability During Resolved-Rate Motion Control
Resolved-rate motion control of redundant serial-link manipulators is co...
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01/31/2020
Robot Navigation in Unseen Spaces using an Abstract Map
Human navigation in built environments depends on symbolic spatial infor...
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01/30/2020
Model-free vision-based shaping of deformable plastic materials
We address the problem of shaping deformable plastic materials using non...
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01/16/2020
Predicting Target Feature Configuration of Non-stationary Objects for Grasping with Image-Based Visual Servoing
In this paper we consider the problem of the final approach stage of clo...
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01/08/2020
What can robotics research learn from computer vision research?
The computer vision and robotics research communities are each strong. H...
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11/27/2018
Probability-based Detection Quality (PDQ): A Probabilistic Approach to Detection Evaluation
We propose a new visual object detector evaluation measure which not onl...
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09/23/2018
Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter
Camera viewpoint selection is an important aspect of visual grasp detect...
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05/31/2018
Distinguishing Refracted Features using Light Field Cameras with Application to Structure from Motion
Robots must reliably interact with refractive objects in many applicatio...
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04/18/2018
The Limits and Potentials of Deep Learning for Robotics
The application of deep learning in robotics leads to very specific prob...
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04/14/2018
Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach
This paper presents a real-time, object-independent grasp synthesis meth...
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04/06/2018
Assisted Control for Semi-Autonomous Power Infrastructure Inspection using Aerial Vehicles
This paper presents the design and implementation of an assisted control...
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09/18/2017
Sim-to-real Transfer of Visuo-motor Policies for Reaching in Clutter: Domain Randomization and Adaptation with Modular Networks
A modular method is proposed to learn and transfer visuo-motor policies ...
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05/24/2017
Visual Servoing from Deep Neural Networks
We present a deep neural network-based method to perform high-precision,...
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03/21/2017
Episode-Based Active Learning with Bayesian Neural Networks
We investigate different strategies for active learning with Bayesian de...
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12/16/2016
Mirrored Light Field Video Camera Adapter
This paper proposes the design of a custom mirror-based light field came...
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10/21/2016
Modular Deep Q Networks for Sim-to-real Transfer of Visuo-motor Policies
While deep learning has had significant successes in computer vision tha...
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09/17/2016
The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research
Robotic challenges like the Amazon Picking Challenge (APC) or the DARPA ...
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08/01/2016
Exploiting Temporal Information for DCNN-based Fine-Grained Object Classification
Fine-grained classification is a relatively new field that has concentra...
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11/30/2015
Fine-Grained Classification via Mixture of Deep Convolutional Neural Networks
We present a novel deep convolutional neural network (DCNN) system for f...
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11/12/2015
Towards Vision-Based Deep Reinforcement Learning for Robotic Motion Control
This paper introduces a machine learning based system for controlling a ...
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05/09/2015
Subset Feature Learning for Fine-Grained Category Classification
Fine-grained categorisation has been a challenging problem due to small ...
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02/27/2015