CMCor software

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F25%3A00386026" target="_blank" >RIV/68407700:21730/25:00386026 - isvavai.cz</a>

Výsledek na webu

<a href="https://github.com/holesond/cmcor" target="_blank" >https://github.com/holesond/cmcor</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

CMCor software

Popis výsledku v původním jazyce

Manipulating tangled hoses, cables, or ropes can be challenging for both robots and humans. Humans often approach these perceptually demanding tasks by pushing or pulling tangled cables and observing the resulting motions. We follow a similar idea to aid robotic cable manipulation. CMCor software integrates visual and proprioceptive perception to segment a grasped cable by moving it even when the robot or the grasped cable sometimes perturb neighboring cables. We formulate the cable interactive segmentation problem in such a way that our methods do not require robot arm segmentation masks.

Název v anglickém jazyce

CMCor software

Popis výsledku anglicky

Manipulating tangled hoses, cables, or ropes can be challenging for both robots and humans. Humans often approach these perceptually demanding tasks by pushing or pulling tangled cables and observing the resulting motions. We follow a similar idea to aid robotic cable manipulation. CMCor software integrates visual and proprioceptive perception to segment a grasped cable by moving it even when the robot or the grasped cable sometimes perturb neighboring cables. We formulate the cable interactive segmentation problem in such a way that our methods do not require robot arm segmentation masks.

Druh

R - Software

CEP obor

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OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EH22_008%2F0004590" target="_blank" >EH22_008/0004590: Robotika a pokročilá průmyslová výroba</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Interní identifikační kód produktu

CMCor software

Technické parametry

Given a single grasp on a cable, two actions, and the action vote threshold set to one, the MCor (motion correlation) method from the CMCor software package with parameters tuned to maximize the F_0.4 score on the validation set reaches the mean Intersection over Union (IoU) moving cable segmentation score of 0.4292 and the mean F_0.4 score of 0.6888 on the test set of the CMCor dataset.

Ekonomické parametry

CMCor software might become a key component of a robotic system able to autonomously assemble or install wiring harnesses in industrial settings. Such a system might reduce manufacturing costs by replacing human workers, enable wiring harness assembly in countries with high labour costs, or increase manufacturing process speed, precision and reliability. Autonomously maintaining data centers might be another possible application area in the future.

IČO vlastníka výsledku

68407700

Název vlastníka

České vysoké učení technické v Praze