Related papers: Real-Time, Highly Accurate Robotic Grasp Detection…
Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…
The reliability of grasp detection for target objects in complex scenes is a challenging task and a critical problem that needs to be solved urgently in practical application. At present, the grasp detection location comes from searching…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
The computer-aided diagnosis (CAD) system can provide a reference basis for the clinical diagnosis of skin diseases. Convolutional neural networks (CNNs) can not only extract visual elements such as colors and shapes but also semantic…
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…
Grasping objects successfully from a single-view camera is crucial in many robot manipulation tasks. An approach to solve this problem is to leverage simulation to create large datasets of pairs of objects and grasp poses, and then learn a…
Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
The retinal vascular condition is a reliable biomarker of several ophthalmologic and cardiovascular diseases, so automatic vessel segmentation may be crucial to diagnose and monitor them. In this paper, we propose a novel method that…
The rapid progress of generative models has intensified the need for reliable and robust detection under real-world conditions. However, existing detectors often overfit to generator-specific artifacts and remain highly sensitive to…
To better care for the elderly and disabled, it is essential for service robots to have an effective fusion method of object detection and grasp estimation. However, limited research has been observed on the combination of object detection…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
We introduce a Cable Grasping-Convolutional Neural Network designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable…
The recent advances of convolutional detectors show impressive performance improvement for large scale object detection. However, in general, the detection performance usually decreases as the object classes to be detected increases, and it…
Humans and animals recognize objects irrespective of the beholder's point of view, which may drastically change their appearances. Artificial pattern recognizers also strive to achieve this, e.g., through translational invariance in…
Real-world grasp detection is challenging due to the stochasticity in grasp dynamics and the noise in hardware. Ideally, the system would adapt to the real world by training directly on physical systems. However, this is generally difficult…
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but…
This paper presents a new approach for training two-stage object detection ensemble models, more specifically, Faster R-CNN models to estimate uncertainty. We propose training one Region Proposal Network(RPN) and multiple Fast R-CNN…
In the modern era of Deep Learning, network parameters play a vital role in models efficiency but it has its own limitations like extensive computations and memory requirements, which may not be suitable for real time intelligent robot…
Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…