DeepAI AI Chat
Log In Sign Up

Object Finding in Cluttered Scenes Using Interactive Perception

by   Tonci Novkovic, et al.
ETH Zurich

Object finding in clutter is a skill that requires both perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the environment, and vice versa use perception to guide the next action. Scene interactions are difficult to model, therefore, most of the current systems use predefined heuristics. This limits their ability to efficiently search for the target object in a complex environment. In order to remove heuristics and the need for explicit models of the interactions, in this work we propose a reinforcement learning based active and interactive perception system for scene exploration and object search. We evaluate our work both in simulated and in real world experiments using a robotic manipulator equipped with an RGB and a depth camera, and compared our system to two baselines. The results indicate that our approach, trained in simulation only, transfers smoothly to reality and can solve the object finding task efficiently and with more than 90


page 1

page 3

page 4

page 5


Building an Affordances Map with Interactive Perception

Robots need to understand their environment to perform their task. If it...

Bootstrapping Robotic Ecological Perception from a Limited Set of Hypotheses Through Interactive Perception

To solve its task, a robot needs to have the ability to interpret its pe...

Active Visuo-Tactile Interactive Robotic Perception for Accurate Object Pose Estimation in Dense Clutter

This work presents a novel active visuo-tactile based framework for robo...

Perception of the Environment

This chapter discusses the intricacies of cybersecurity agents' percepti...

Bridging Scene Understanding and Task Execution with Flexible Simulation Environments

Significant progress has been made in scene understanding which seeks to...

Active Perception using Light Curtains for Autonomous Driving

Most real-world 3D sensors such as LiDARs perform fixed scans of the ent...

Towards Autonomous Grading In The Real World

In this work, we aim to tackle the problem of autonomous grading, where ...