Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to accomplish manipulation tasks. Typically the perception results do not include information about the part structure of objects, articulation mechanisms and other attributes needed for adapting manipulation behavior. On the other hand, the perception problems stated are also too hard because -- unlike humans -- the perception systems cannot leverage the expectations about what they will see to their full potential. Therefore, we investigate a variation of robot perception tasks suitable for robots accomplishing everyday manipulation tasks, such as household robots or a robot in a retail store. In such settings it is reasonable to assume that robots know most objects and have detailed models of them. We propose a perception system that maintains its beliefs about its environment as a scene graph with physics simulation and visual rendering. When detecting objects, the perception system retrieves the model of the object and places it at the corresponding place in a VR-based environment model. The physics simulation ensures that object detections that are physically not possible are rejected and scenes can be rendered to generate expectations at the image level. The result is a perception system that can provide useful information for manipulation tasks.

中文翻译：

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具有想象力的机器人感知

如今，许多机器人感知系统都旨在完成过于简单和过于艰巨的感知任务。它们太简单了，因为它们不需要感知系统提供完成操纵任务所需的所有信息。通常，感知结果不包括有关对象的零件结构，关节运动机制和适应操纵行为所需的其他属性的信息。另一方面，陈述的感知问题也太难了，因为与人类不同，感知系统无法充分发挥对所见事物的期望。因此，我们研究了适合于完成日常操纵任务的机器人（例如家用机器人或零售商店中的机器人）的机器人感知任务的变化形式。在这种情况下，可以合理地假设机器人知道大多数对象并具有详细的模型。我们提出了一种感知系统，可以通过物理模拟和视觉渲染将其对环境的看法保持为场景图。当检测到物体时，感知系统会检索物体的模型并将其放置在基于VR的环境模型中的相应位置。物理模拟确保拒绝物理上不可能的对象检测，并且可以渲染场景以在图像级别生成期望。结果是可以为操纵任务提供有用信息的感知系统。我们提出了一种感知系统，可以通过物理模拟和视觉渲染将其对环境的看法保持为场景图。当检测到物体时，感知系统会检索物体的模型并将其放置在基于VR的环境模型中的相应位置。物理模拟确保拒绝物理上不可能的对象检测，并且可以渲染场景以在图像级别生成期望。结果是可以为操纵任务提供有用信息的感知系统。我们提出了一种感知系统，可以通过物理模拟和视觉渲染将其对环境的看法保持为场景图。当检测到物体时，感知系统会检索物体的模型并将其放置在基于VR的环境模型中的相应位置。物理模拟确保拒绝物理上不可能的对象检测，并且可以渲染场景以在图像级别生成期望。结果是可以为操纵任务提供有用信息的感知系统。物理模拟确保拒绝物理上不可能的对象检测，并且可以渲染场景以在图像级别生成期望。结果是可以为操纵任务提供有用信息的感知系统。物理模拟确保拒绝物理上不可能的对象检测，并且可以渲染场景以在图像级别生成期望。结果是可以为操纵任务提供有用信息的感知系统。