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We present a novel vision-based grasp point detection algorithm that can reliably detect the corners of a piece of cloth, using only geometric cues that are robust to variation in texture. Furthermore, we demonstrate the effectiveness of our algorithm in the context of folding a towel using a general-purpose two-armed mobile robotic platform without the use(More)
We present a first study of using RGB-D (Kinect-style) cameras for fine-grained recognition of kitchen activities. Our prototype system combines depth (shape) and color (appearance) to solve a number of perception problems crucial for smart space applications: locating hands, identifying objects and their functionalities, recognizing actions and tracking(More)
Programmers receive feedback about program correctness in several ways. The most common static feedback is type-checking: if a program typechecks successfully, then all program executions are guaranteed to be free of certain classes of errors. Dynamic feedback is obtained by running a program and observing the output of a single program execution.(More)
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