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Quadrupedal robots are conquering various indoor and outdoor applications due to their ability to navigate challenging uneven terrains. Exteroceptive information greatly enhances this capability since perceiving their surroundings allows them to adapt their controller and thus achieve higher levels of robustness. However, sensors such as LiDARs and RGB cameras do not provide sufficient information to quickly and precisely react in a highly dynamic environment since they suffer from a bandwidth-latency tradeoff. They require significant bandwidth at high frame rates while featuring significant perceptual latency at lower frame rates, thereby limiting their versatility on resource-constrained platforms. In this work, we tackle this problem by equipping our quadruped with an event camera, which does not suffer from this tradeoff due to its asynchronous and sparse operation. In leveraging the low latency of the events, we push the limits of quadruped agility and demonstrate high-speed ball catching for the first time. We show that our quadruped equipped with an event camera can catch objects with speeds up to 15 m/s from 4 meters, with a success rate of 83%. Using a VGA event camera, our method runs at 100 Hz on an NVIDIA Jetson Orin.

In orthogonal world coordinates, a Manhattan world lying along cuboid buildings is widely useful for various computer vision tasks. However, the Manhattan world has much room for improvement because the origin of pan angles from an image is arbitrary, that is, four-fold rotational symmetric ambiguity of pan angles. To address this problem, we propose a definition for the pan-angle origin based on the directions of the roads with respect to a camera and the direction of travel. We propose a learning-based calibration method that uses heatmap regression to remove the ambiguity by each direction of labeled image coordinates, similar to pose estimation keypoints. Simultaneously, our two-branched network recovers the rotation and removes fisheye distortion from a general scene image. To alleviate the lack of vanishing points in images, we introduce auxiliary diagonal points that have the optimal 3D arrangement of spatial uniformity. Extensive experiments demonstrated that our method outperforms conventional methods on large-scale datasets and with off-the-shelf cameras.

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments, many legged platform demonstrations have also included "moving an object" as a way of doing tangible work. Legged robots can be designed to manipulate a particular type of object (e.g., a cardboard box, a soccer ball, or a larger piece of furniture), by themselves or collaboratively. The objective of this review is to collect and learn from these examples, to both organize the work done so far in the community and highlight interesting open avenues for future work. This review categorizes existing works into four main manipulation methods: object interactions without grasping, manipulation with walking legs, dedicated non-locomotive arms, and legged teams. Each method has different design and autonomy features, which are illustrated by available examples in the literature. Based on a few simplifying assumptions, we further provide quantitative comparisons for the range of possible relative sizes of the manipulated object with respect to the robot. Taken together, these examples suggest new directions for research in legged robot manipulation, such as multifunctional limbs, terrain modeling, or learning-based control, to support a number of new deployments in challenging indoor/outdoor scenarios in warehouses/construction sites, preserved natural areas, and especially for home robotics.

Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while performing an insertion task when the hole or the recipient part is not visible in the eye-in-hand camera, a learning-based movement primitive method can be used to generate the end-effector path. Once the recipient part is in the field of view (FOV), Image-based Visual Servo (IBVS) can be used to control the motion of the robot. Inspired by such applications, this paper presents a generalized control scheme that switches between motion generation using DMPs and IBVS control. To facilitate the design, a common state space representation for the DMP and the IBVS systems is first established. Stability analysis of the switched system using multiple Lyapunov functions shows that the state trajectories converge to a bound asymptotically. The developed method is validated by two real world experiments using the eye-in-hand configuration on a Baxter research robot.

A significant portion of driving hazards is caused by human error and disregard for local driving regulations; Consequently, an intelligent assistance system can be beneficial. This paper proposes a novel vision-based modular package to ensure drivers' safety by perceiving the environment. Each module is designed based on accuracy and inference time to deliver real-time performance. As a result, the proposed system can be implemented on a wide range of vehicles with minimum hardware requirements. Our modular package comprises four main sections: lane detection, object detection, segmentation, and monocular depth estimation. Each section is accompanied by novel techniques to improve the accuracy of others along with the entire system. Furthermore, a GUI is developed to display perceived information to the driver. In addition to using public datasets, like BDD100K, we have also collected and annotated a local dataset that we utilize to fine-tune and evaluate our system. We show that the accuracy of our system is above 80% in all the sections. Our code and data are available at //github.com/Pandas-Team/Autonomous-Vehicle-Environment-Perception

This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Automation of operations in modern warehouses requires a robotic manipulator to deal with a wide variety of objects, unstructured storage, and dynamically changing inventory. Such settings pose challenges in perceiving the identity, physical characteristics, and state of objects during manipulation. Existing datasets for robotic manipulation consider a limited set of objects or utilize 3D models to generate synthetic scenes with limitation in capturing the variety of object properties, clutter, and interactions. We present a large-scale dataset collected in an Amazon warehouse using a robotic manipulator performing object singulation from containers with heterogeneous contents. ARMBench contains images, videos, and metadata that corresponds to 235K+ pick-and-place activities on 190K+ unique objects. The data is captured at different stages of manipulation, i.e., pre-pick, during transfer, and after placement. Benchmark tasks are proposed by virtue of high-quality annotations and baseline performance evaluation are presented on three visual perception challenges, namely 1) object segmentation in clutter, 2) object identification, and 3) defect detection. ARMBench can be accessed at //armbench.com

Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and act on such 'soft data' remains challenging. Here, the Human Assisted Robotic Planning and Sensing (HARPS) framework is presented for active semantic sensing and planning in human-robot teams to address these gaps by formally combining the benefits of online sampling-based POMDP policies, multimodal semantic interaction, and Bayesian data fusion. This approach lets humans opportunistically impose model structure and extend the range of semantic soft data in uncertain environments by sketching and labeling arbitrary landmarks across the environment. Dynamic updating of the environment model while during search allows robotic agents to actively query humans for novel and relevant semantic data, thereby improving beliefs of unknown environments and states for improved online planning. Simulations of a UAV-enabled target search application in a large-scale partially structured environment show significant improvements in time and belief state estimates required for interception versus conventional planning based solely on robotic sensing. Human subject studies in the same environment (n = 36) demonstrate an average doubling in dynamic target capture rate compared to the lone robot case, and highlight the robustness of active probabilistic reasoning and semantic sensing over a range of user characteristics and interaction modalities.

We formulate grasp learning as a neural field and present Neural Grasp Distance Fields (NGDF). Here, the input is a 6D pose of a robot end effector and output is a distance to a continuous manifold of valid grasps for an object. In contrast to current approaches that predict a set of discrete candidate grasps, the distance-based NGDF representation is easily interpreted as a cost, and minimizing this cost produces a successful grasp pose. This grasp distance cost can be incorporated directly into a trajectory optimizer for joint optimization with other costs such as trajectory smoothness and collision avoidance. During optimization, as the various costs are balanced and minimized, the grasp target is allowed to smoothly vary, as the learned grasp field is continuous. We evaluate NGDF on joint grasp and motion planning in simulation and the real world, outperforming baselines by 63% execution success while generalizing to unseen query poses and unseen object shapes. Project page: //sites.google.com/view/neural-grasp-distance-fields.

Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot. By contrast, in this paper we present an approach for multi-robot shared autonomy that enables one operator to provide real-time corrections across two coordinated robots completing the same task in parallel. Sharing autonomy with multiple robots presents fundamental challenges. The human can only correct one robot at a time, and without coordination, the human may be left idle for long periods of time. Accordingly, we develop an approach that aligns the robot's learned motions to best utilize the human's expertise. Our key idea is to leverage Learning from Demonstration (LfD) and time warping to schedule the motions of the robots based on when they may require assistance. Our method uses variability in operator demonstrations to identify the types of corrections an operator might apply during shared autonomy, leverages flexibility in how quickly the task was performed in demonstrations to aid in scheduling, and iteratively estimates the likelihood of when corrections may be needed to ensure that only one robot is completing an action requiring assistance. Through a preliminary simulated study, we show that our method can decrease the overall time spent sanding by iteratively estimating the times when each robot could need assistance and generating an optimized schedule that allows the operator to provide corrections to each robot during these times.

Recent technological advances have made head-mounted displays (HMDs) smaller and untethered, fostering the vision of ubiquitous interaction with information in a digitally augmented physical world. For interacting with such devices, three main types of input - besides not very intuitive finger gestures - have emerged so far: 1) Touch input on the frame of the devices or 2) on accessories (controller) as well as 3) voice input. While these techniques have both advantages and disadvantages depending on the current situation of the user, they largely ignore the skills and dexterity that we show when interacting with the real world: Throughout our lives, we have trained extensively to use our limbs to interact with and manipulate the physical world around us. This thesis explores how the skills and dexterity of our upper and lower limbs, acquired and trained in interacting with the real world, can be transferred to the interaction with HMDs. Thus, this thesis develops the vision of around-body interaction, in which we use the space around our body, defined by the reach of our limbs, for fast, accurate, and enjoyable interaction with such devices. This work contributes four interaction techniques, two for the upper limbs and two for the lower limbs: The first contribution shows how the proximity between our head and hand can be used to interact with HMDs. The second contribution extends the interaction with the upper limbs to multiple users and illustrates how the registration of augmented information in the real world can support cooperative use cases. The third contribution shifts the focus to the lower limbs and discusses how foot taps can be leveraged as an input modality for HMDs. The fourth contribution presents how lateral shifts of the walking path can be exploited for mobile and hands-free interaction with HMDs while walking.