imagine
Abstract:Visual representations are central to the learning and generalization capabilities of robotic manipulation policies. While existing methods rely on global or dense features, such representations often entangle task-relevant and irrelevant scene information, limiting robustness under distribution shifts. In this work, we investigate object-centric representations (OCR) as a structured alternative that segments visual input into a finished set of entities, introducing inductive biases that align more naturally with manipulation tasks. We benchmark a range of visual encoders-object-centric, global and dense methods-across a suite of simulated and real-world manipulation tasks ranging from simple to complex, and evaluate their generalization under diverse visual conditions including changes in lighting, texture, and the presence of distractors. Our findings reveal that OCR-based policies outperform dense and global representations in generalization settings, even without task-specific pretraining. These insights suggest that OCR is a promising direction for designing visual systems that generalize effectively in dynamic, real-world robotic environments.
Abstract:Soybean is one of the ten greatest crops in the world, answering for billion-dollar businesses every year. This crop suffers from insect herbivory that costs millions from producers. Hence, constant monitoring of the crop foliar damage is necessary to guide the application of insecticides. However, current methods to measure foliar damage are expensive and dependent on laboratory facilities, in some cases, depending on complex devices. To cope with these shortcomings, we introduce an image processing methodology to measure the foliar damage in soybean leaves. We developed a non-destructive imaging method based on two techniques, Otsu segmentation and Bezier curves, to estimate the foliar loss in leaves with or without border damage. We instantiate our methodology in a mobile application named BioLeaf, which is freely distributed for smartphone users. We experimented with real-world leaves collected from a soybean crop in Brazil. Our results demonstrated that BioLeaf achieves foliar damage quantification with precision comparable to that of human specialists. With these results, our proposal might assist soybean producers, reducing the time to measure foliar damage, reducing analytical costs, and defining a commodity application that is applicable not only to soy, but also to different crops such as cotton, bean, potato, coffee, and vegetables.