Clear table scenario using UR5e robot

In this demonstration, the system works in a scenario where a table is in front of the robot, and a user interacts with the system. There are three cups and one trash-basket on top of the table. At the start of the experiment, the set of categories known to the system is empty, and therefore, the system recognizes all table-top objects as Unknown. A user interacts with the system by teaching TrashBasket and Cup categories. The system conceptualizes both categories using the extracted object views and recognizes all objects correctly. This illustrates the process of acquiring object categories in an open-ended fashion with user mediation. Later, the user instructs the robot to perform a clear_table task. In this task, the robot must be able to detect the pose and recognize the label of all active objects. Afterward, the robot should transport all cups to the trash-basket and clean the table.
Hamidreza Kasaei
Department of Artificial Intelligence,
The University of Groningen, The Netherlands
www.ai.rug.nl/hkasaei