62 citations · 284 across the 28 of their papers we have counts for
8 papers · 1 filter
Visually Grounding Language Instruction for History-Dependent Manipulation
Hyemin Ahn, Obin Kwon, Kyoungdo Kim +5
This paper emphasizes the importance of a robot's ability to refer to its task history, especially when it executes a series of pick-and-place manipulations by following language i…
Efficient State Abstraction using Object-centered Predicates for Manipulation Planning
Alejandro Agostini, Dongheui Lee
The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention i…
Incremental Skill Learning of Stable Dynamical Systems
Matteo Saveriano, Dongheui Lee
Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past deca…
Merging Position and Orientation Motion Primitives
Matteo Saveriano, Felix Franzel, Dongheui Lee
In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations endi…
Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems
Matteo Saveriano, Dongheui Lee
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering pos…
Measuring Generalisation to Unseen Viewpoints, Articulations, Shapes and Objects for 3D Hand Pose Estimation under Hand-Object Interaction
Anil Armagan, Guillermo Garcia-Hernando, Seungryul Baek +32
We study how well different types of approaches generalise in the task of 3D hand pose estimation under single hand scenarios and hand-object interaction. We show that the accuracy…
Particle Filter Based Monocular Human Tracking with a 3D Cardbox Model and a Novel Deterministic Resampling Strategy
Ziyuan Liu, Dongheui Lee, Wolfgang Sepp
The challenge of markerless human motion tracking is the high dimensionality of the search space. Thus, efficient exploration in the search space is of great significance. In this…
A Transfer Learning Approach to Cross-Modal Object Recognition: From Visual Observation to Robotic Haptic Exploration
Pietro Falco, Shuang Lu, Ciro Natale +2
In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of obj…