6 papers · 1 filter
3DSGrasp: 3D Shape-Completion for Robotic Grasp
Seyed S. Mohammadi, Nuno F. Duarte, Dimitris Dimou +8
Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are…
GRASPLAT: Enabling dexterous grasping through novel view synthesis
Matteo Bortolon, Nuno Ferreira Duarte, Plinio Moreno +3
Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these appro…
Learning to Evaluate Autonomous Behaviour in Human-Robot Interaction
Matteo Tiezzi, Tommaso Apicella, Carlos Cardenas-Perez +5
Evaluating and comparing the performance of autonomous Humanoid Robots is challenging, as success rate metrics are difficult to reproduce and fail to capture the complexity of robo…
Measuring Uncertainty in Shape Completion to Improve Grasp Quality
Nuno Ferreira Duarte, Seyed S. Mohammadi, Plinio Moreno +2
Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in on…
Reasoning in visual navigation of end-to-end trained agents: a dynamical systems approach
Steeven Janny, Hervé Poirier, Leonid Antsfeld +6
Progress in Embodied AI has made it possible for end-to-end-trained agents to navigate in photo-realistic environments with high-level reasoning and zero-shot or language-condition…
Mind the Error! Detection and Localization of Instruction Errors in Vision-and-Language Navigation
Francesco Taioli, Stefano Rosa, Alberto Castellini +5
Vision-and-Language Navigation in Continuous Environments (VLN-CE) is one of the most intuitive yet challenging embodied AI tasks. Agents are tasked to navigate towards a target go…