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Robotic Grasping of Fully-Occluded Objects using RF Perception

arXiv.org Artificial Intelligence

We present the design, implementation, and evaluation of RF-Grasp, a robotic system that can grasp fully-occluded objects in unknown and unstructured environments. Unlike prior systems that are constrained by the line-of-sight perception of vision and infrared sensors, RF-Grasp employs RF (Radio Frequency) perception to identify and locate target objects through occlusions, and perform efficient exploration and complex manipulation tasks in non-line-of-sight settings. RF-Grasp relies on an eye-in-hand camera and batteryless RFID tags attached to objects of interest. It introduces two main innovations: (1) an RF-visual servoing controller that uses the RFID's location to selectively explore the environment and plan an efficient trajectory toward an occluded target, and (2) an RF-visual deep reinforcement learning network that can learn and execute efficient, complex policies for decluttering and grasping. We implemented and evaluated an end-to-end physical prototype of RF-Grasp and a state-of-the-art baseline. We demonstrate it improves success rate and efficiency by up to 40-50% in cluttered settings. We also demonstrate RF-Grasp in novel tasks such mechanical search of fully-occluded objects behind obstacles, opening up new possibilities for robotic manipulation.


A robot that senses hidden objects

Robohub

In recent years, robots have gained artificial vision, touch, and even smell. "Researchers have been giving robots human-like perception," says MIT Associate Professor Fadel Adib. In a new paper, Adib's team is pushing the technology a step further. "We're trying to give robots superhuman perception," he says. The researchers have developed a robot that uses radio waves, which can pass through walls, to sense occluded objects.


A robot that senses hidden objects

#artificialintelligence

In recent years, robots have gained artificial vision, touch, and even smell. "Researchers have been giving robots human-like perception," says MIT Associate Professor Fadel Adib. In a new paper, Adib's team is pushing the technology a step further. "We're trying to give robots superhuman perception," he says. The researchers have developed a robot that uses radio waves, which can pass through walls, to sense occluded objects.


Robot That Senses Hidden Objects – "We're Trying to Give Robots Superhuman Perception"

#artificialintelligence

MIT researchers developed a picking robot that combines vision with radio frequency (RF) sensing to find and grasps objects, even if they're hidden from view. The technology could aid fulfilment in e-commerce warehouses. System uses penetrative radio frequency to pinpoint items, even when they're hidden from view. In recent years, robots have gained artificial vision, touch, and even smell. "Researchers have been giving robots human-like perception," says MIT Associate Professor Fadel Adib.


The robot that can see! New AI that can inspect an unfamiliar object and pick it up

Daily Mail - Science & tech

Scientists have created a robot that can'see' unfamiliar objects using breakthrough computer vision. It can make basic distinctions between objects and accomplish specific tasks without having ever seen them before. The AI will one day be sophisticated enough to create house-cleaning robots that can be put to work in homes and offices, researchers from MIT say. People could give their robot an image of a tidy house and ask it to clean while they are at work. It could also be given an image of dishes and be asked to put the plates away, scientists say.