The key insight of our approach is that task-oriented active perception allows us to probe only the task-relevant parts or properties of the environment, avoiding the complexity of fully-segmenting and registering all objects.ĭeveloping Bicycle-Related Corner Case Scenarios and a Bicyclist Model for Testing Self-Driving Cars Using Naturalistic Driving Data and Crash Data Instead of the perceive-then-act approach, we propose to solve the problem of manipulating heterogeneous objects in dense clutter through task-oriented active perception and manipulation. The standard perceive-then-act approach, which registers CAD models of objects to sensor data before planning to manipulate, is impractical in such densely cluttered scenarios as some objects may be unknown, some can change shape, and many will be partially or fully occluded. These objects vary in size, from small cups to large chairs they may vary in structure, from rigid utensils to articulated home gadgets like can openers, even to fully deformable objects like clothing and blankets they may be composed, such as stacks of cups they may commingle, such as a collection of plates, glasses and utensils on a tray. To be effective for these kinds of tasks a robot must be able to perceive and manipulate various types of objects in dense clutter. We envision domestic assistance robots that are capable of performing many practical tasks, such as cooking, cleaning, and laundry, for elderly or disabled people. Whether you know which book you want or are looking for a recommendation, you’ll find it in the Books store.Task-Oriented Active Perception and Motion Planning for Manipulating Piles of Stuff For new and returning students, we have textbooks to buy, rent or sell and teachers can find books for their classroom in our education store. Read the books behind blockbuster movies like Suzanne Collins’ The Hunger Games, John Green’s The Fault in Our Stars, Stephenie Meyers’ Twilight series, or E.L. Get reading recommendations from our Amazon book editors, who select the best new books each month and the best books of the year in our most popular genres. You’ll find the latest New York Times best-seller lists, and award winners in literature, mysteries, and children’s books. Science fiction fans can start the Game of Thrones book series or see what's next from its author, George R.R. Let your inner detective run wild with our mystery, thriller & suspense selection containing everything from hard-boiled sleuths to twisty psychological thrillers. We have books to help you learn a new language, travel guides to take you on new adventures, and business books for entrepreneurs. Discover a new favorite author or book series, a debut novel or a best-seller in the making. Whatever you are looking for: popular fiction, cookbooks, mystery, romance, a new memoir, a look back at history, or books for kids and young adults, you can find it on Books. Find best-selling books, new releases, and classics in every category, from Harper Lee's To Kill a Mockingbird to the latest by Stephen King or the next installment in the Diary of a Wimpy Kid children’s book series. Books has the world’s largest selection of new and used titles to suit any reader's tastes.
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