感知-操作全链路
感知与操作的端到端集成：场景理解、任务级状态估计、关键点检测和完整的抓取-放置流水线。
Learning Objectives
1. From Perception to Action
1.1 The Perception-Action Loop
1.2 System Architecture Overview
2. Scene Understanding
2.1 Instance Segmentation
2.2 6DoF Object Pose Estimation
2.3 Scene Graph Representation
3. Task-Level State Estimation
3.1 Keypoint Detection
3.2 Dense Correspondences
3.3 Scene Flow
4. Complete Pick-and-Place Pipeline
4.1 Detect → Segment → Pose → Grasp → Place
4.2 Failure Detection & Recovery
5. Foundation Models for Manipulation
5.1 SAM for Manipulation
5.2 LLM-Based Task Planning
5.3 Vision-Language-Action Models
6. ROS 2 Integration: Full Pipeline
Exercises
References
