3D Understanding of Deformable Linear Objects: Datasets and Transferability Benchmark

Deformable linear objects are vastly represented in our everyday lives. It is often challenging even for humans to visually understand them, as the same object can be entangled so that it appears completely different. Examples of deformable linear objects include blood vessels and wiring harnesses, vital to the functioning of their corresponding systems, such as the human body and a vehicle. However, no point cloud datasets exist for studying 3D deformable linear objects. Therefore, we are introducing two point cloud datasets, PointWire and PointVessel. We evaluated state-of-the-art methods on the proposed large-scale 3D deformable linear object benchmarks. Finally, we analyzed the generalization capabilities of these methods by conducting transferability experiments on the PointWire and PointVessel datasets

Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks

Randomization is currently a widely used approach in Sim2Real transfer for data-driven learning algorithms in robotics. Still, most Sim2Real studies report results for a specific randomization technique and often on a highly customized robotic system, making it difficult to evaluate different randomization approaches systematically. To address this problem, we define an easy-to-reproduce experimental setup for a robotic reach-and-balance manipulator task, which can serve as a benchmark for comparison. We compare four randomization strategies with three randomized parameters both in simulation and on a real robot. Our results show that more randomization helps in Sim2Real transfer, yet it can also harm the ability of the algorithm to find a good policy in simulation. Fully randomized simulations and fine-tuning show differentiated results and translate better to the real robot than the other approaches tested.Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 202

Using Baxter research robot for two-handed object manipulation

Cilj ovog rada je implementiranje algoritama za planiranje trajektorije robotskih manipulatora koji su primjenjivi na robotu Baxter. Pomoću RGB kamera koje su dostupne na robotu Baxter se pronalaze predmeti koje je potrebno premjestiti na zadanu lokaciju korištenjem jedne ili obiju ruku.The goal of this bachelor thesis is the implementation of algorithms for motion planning and using the embedded RGB cameras on the Baxter platform for object detection. Once detected, the objects have to be moved to a specified location

Using Baxter research robot for two-handed object manipulation

Cilj ovog rada je implementiranje algoritama za planiranje trajektorije robotskih manipulatora koji su primjenjivi na robotu Baxter. Pomoću RGB kamera koje su dostupne na robotu Baxter se pronalaze predmeti koje je potrebno premjestiti na zadanu lokaciju korištenjem jedne ili obiju ruku.The goal of this bachelor thesis is the implementation of algorithms for motion planning and using the embedded RGB cameras on the Baxter platform for object detection. Once detected, the objects have to be moved to a specified location

Autonomous Mobile Robot System for Building 3D Thermal Model of the Environment

3D toplinski model prostora prošireni je model prostora koji uz geometrijske informacije sadrži i informaciju o raspodjeli temperature u prostoru. Primjene su takvoga modela ispitivanje energetske učinkovitosti zgrada i orkrivanje kritičnih mjesta u izolaciji. Autonomni robotski sustav za izgradnju 3D toplinskog modela prostora sastoji se od mobilnog robota opremljenog senzorima za navigaciju i senzorima za izgradnju toplinskog 3D modela. U tu svrhu koriste se 3D laserski senzor udaljenosti i termovizijska kamera. Potrebno je postaviti cjelokupni senzorski sustav na mobilnu platformu Clearpath Husky. Senzore je potrebno umjeriti kako bi se podaci dobiveni iz različitih senzora mogli interpretirati u konačnom modelu. Dodatno je potrebno ispitati autonomni robotski sustav za izgradnju 3D toplinskog modela prostora.Three-dimensional heat map is an extended space model which, along with geometric information, contains heat distribution information. The applications of such map are energy efficiency surveying of buildings and examination of thermal insulation. An autonomous robotic system for creating 3D heat distribution maps consists of a mobile robot equipped with navigation sensors and sensors for creating such a map. For this purpose 3D laser scanner and thermal camera are used. It is required to set up the entire sensor system on the robotic platform Clearpath Husky. Sensor calibration is necessary because the acquired data from the sensors is combined to create 3D heat distribution maps. In addition it is required to look into the autonomous robotic system for creating 3D heat distribution maps

Using Baxter research robot for two-handed object manipulation

Cilj ovog rada je implementiranje algoritama za planiranje trajektorije robotskih manipulatora koji su primjenjivi na robotu Baxter. Pomoću RGB kamera koje su dostupne na robotu Baxter se pronalaze predmeti koje je potrebno premjestiti na zadanu lokaciju korištenjem jedne ili obiju ruku.The goal of this bachelor thesis is the implementation of algorithms for motion planning and using the embedded RGB cameras on the Baxter platform for object detection. Once detected, the objects have to be moved to a specified location

Autonomous Mobile Robot System for Building 3D Thermal Model of the Environment

3D toplinski model prostora prošireni je model prostora koji uz geometrijske informacije sadrži i informaciju o raspodjeli temperature u prostoru. Primjene su takvoga modela ispitivanje energetske učinkovitosti zgrada i orkrivanje kritičnih mjesta u izolaciji. Autonomni robotski sustav za izgradnju 3D toplinskog modela prostora sastoji se od mobilnog robota opremljenog senzorima za navigaciju i senzorima za izgradnju toplinskog 3D modela. U tu svrhu koriste se 3D laserski senzor udaljenosti i termovizijska kamera. Potrebno je postaviti cjelokupni senzorski sustav na mobilnu platformu Clearpath Husky. Senzore je potrebno umjeriti kako bi se podaci dobiveni iz različitih senzora mogli interpretirati u konačnom modelu. Dodatno je potrebno ispitati autonomni robotski sustav za izgradnju 3D toplinskog modela prostora.Three-dimensional heat map is an extended space model which, along with geometric information, contains heat distribution information. The applications of such map are energy efficiency surveying of buildings and examination of thermal insulation. An autonomous robotic system for creating 3D heat distribution maps consists of a mobile robot equipped with navigation sensors and sensors for creating such a map. For this purpose 3D laser scanner and thermal camera are used. It is required to set up the entire sensor system on the robotic platform Clearpath Husky. Sensor calibration is necessary because the acquired data from the sensors is combined to create 3D heat distribution maps. In addition it is required to look into the autonomous robotic system for creating 3D heat distribution maps

Autonomous Mobile Robot System for Building 3D Thermal Model of the Environment

3D toplinski model prostora prošireni je model prostora koji uz geometrijske informacije sadrži i informaciju o raspodjeli temperature u prostoru. Primjene su takvoga modela ispitivanje energetske učinkovitosti zgrada i orkrivanje kritičnih mjesta u izolaciji. Autonomni robotski sustav za izgradnju 3D toplinskog modela prostora sastoji se od mobilnog robota opremljenog senzorima za navigaciju i senzorima za izgradnju toplinskog 3D modela. U tu svrhu koriste se 3D laserski senzor udaljenosti i termovizijska kamera. Potrebno je postaviti cjelokupni senzorski sustav na mobilnu platformu Clearpath Husky. Senzore je potrebno umjeriti kako bi se podaci dobiveni iz različitih senzora mogli interpretirati u konačnom modelu. Dodatno je potrebno ispitati autonomni robotski sustav za izgradnju 3D toplinskog modela prostora.Three-dimensional heat map is an extended space model which, along with geometric information, contains heat distribution information. The applications of such map are energy efficiency surveying of buildings and examination of thermal insulation. An autonomous robotic system for creating 3D heat distribution maps consists of a mobile robot equipped with navigation sensors and sensors for creating such a map. For this purpose 3D laser scanner and thermal camera are used. It is required to set up the entire sensor system on the robotic platform Clearpath Husky. Sensor calibration is necessary because the acquired data from the sensors is combined to create 3D heat distribution maps. In addition it is required to look into the autonomous robotic system for creating 3D heat distribution maps