8 papers
Push-Placement: A Hybrid Approach Integrating Prehensile and Non-Prehensile Manipulation for Object Rearrangement
Majid Sadeghinejad, Arman Barghi, Hamed Hosseini +2
Efficient tabletop rearrangement remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides pre…
Grasp the Graph (GtG) 2.0: Ensemble of Graph Neural Networks for High-Precision Grasp Pose Detection in Clutter
Ali Rashidi Moghadam, Sayedmohammadreza Rastegari, Mehdi Tale Masouleh +1
Grasp pose detection in cluttered, real-world environments remains a significant challenge due to noisy and incomplete sensory data combined with complex object geometries. This pa…
NeuroVascU-Net: A Unified Multi-Scale and Cross-Domain Adaptive Feature Fusion U-Net for Precise 3D Segmentation of Brain Vessels in Contrast-Enhanced T1 MRI
Mohammad Jafari Vayeghan, Niloufar Delfan, Mehdi Tale Masouleh +2
Precise 3D segmentation of cerebral vasculature from T1-weighted contrast-enhanced (T1CE) MRI is crucial for safe neurosurgical planning. Manual delineation is time-consuming and p…
Dynamic Buffers: Cost-Efficient Planning for Tabletop Rearrangement with Stacking
Arman Barghi, Hamed Hosseini, Seraj Ghasemi +2
Rearranging objects in cluttered tabletop environments remains a long-standing challenge in robotics. Classical planners often generate inefficient, high-cost plans by shuffling ob…
Experimental Study on Automatically Assembling Custom Catering Packages With a 3-DOF Delta Robot Using Deep Learning Methods
Reihaneh Yourdkhani, Arash Tavoosian, Navid Asadi Khomami +1
This paper introduces a pioneering experimental study on the automated packing of a catering package using a two-fingered gripper affixed to a 3-degree-of-freedom Delta parallel ro…
Real-Time Imitation of Human Head Motions, Blinks and Emotions by Nao Robot: A Closed-Loop Approach
Keyhan Rayati, Amirhossein Feizi, Alireza Beigy +3
This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using th…