Related papers: Grasp2Vec: Learning Object Representations from Se…

Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

Self-supervised learning (SSL) has revolutionized visual representation learning, but has not achieved the robustness of human vision. A reason for this could be that SSL does not leverage all the data available to humans during learning.…

Understanding which inductive biases could be helpful for the unsupervised learning of object-centric representations of natural scenes is challenging. In this paper, we systematically investigate the performance of two models on datasets…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

In self-supervised learning, a model is trained to solve a pretext task, using a data set whose annotations are created by a machine. The objective is to transfer the trained weights to perform a downstream task in the target domain. We…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

A crucial ability of human intelligence is to build up models of individual 3D objects from partial scene observations. Recent works achieve object-centric generation but without the ability to infer the representation, or achieve 3D scene…

Recent advances in deep learning have achieved promising performance for medical image analysis, while in most cases ground-truth annotations from human experts are necessary to train the deep model. In practice, such annotations are…

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…

Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

Robots could learn their own state and world representation from perception and experience without supervision. This desirable goal is the main focus of our field of interest, state representation learning (SRL). Indeed, a compact…

We propose a novel unsupervised object localization method that allows us to explain the predictions of the model by utilizing self-supervised pre-trained models without additional finetuning. Existing unsupervised and self-supervised…

We propose to leverage a real-world, human activity RGB dataset to teach a robot Task-Oriented Grasping (TOG). We develop a model that takes as input an RGB image and outputs a hand pose and configuration as well as an object pose and a…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…