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by Xmd5a
482 days ago
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First I'd like to reproduce the Push-T task of the policy diffusion paper (video here: https://diffusion-policy.cs.columbia.edu/) Afterwards I'd like to tackle useful tasks related to gardening/botanical experiments: uprooting weeds, handling pests, harvesting small fruits. What's interesting is that you can develop new approaches to these problems. Uprooting stuff is difficult to do for a machine I guess. Maybe just cut the weeds with scissors every day, that'll teach them a lesson. Or remove aphids "by hand". Another interesting thing is to do more scientific tasks such as handling a lot of tedious tasks on many, many plants. Example: creating polyploid plants is a lot of manual labor, what I'm talking about here is basically lab automation (doing flow cytometry on dozen or even hundred of samples). Another aspect to explore in this space is continuous measurements (measuring photosynthesis efficiency for instance). I'm not a botanist but it seems that measuring devices either come in the form of a box you put the plant in, and you can get quasi-continuous measurements, or they are hand-held and you can only do punctual measurements (typical example: chlorophyll fluorometry). Also plants grow and change shape so putting a measuring device on a plant is in fact rather difficult. I think something like Aloha (even without the "Mobile" extension) could help tackle these situations. |
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https://arxiv.org/abs/2208.11538
Visual Servoing in Orchard Settings
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature tracking algorithm. Results from field experiments performed at an apple orchard demonstrate that our approach converges to a given termination criterion even under environmental influences such as strong winds, varying illumination conditions and partial occlusion of the target object. Further, we show experimentally that the system converges to the desired view for a wide range of initial conditions. This approach opens possibilities for new applications such as automated fruit inspection, fruit picking or precise pesticide application.