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To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6.7 million point clouds, grasps, and analytic grasp metrics generated from thousands of 3D models from Dex-Net…

Methods based on convolutional neural network (CNN) have demonstrated tremendous improvements on single image super-resolution. However, the previous methods mainly restore images from one single area in the low resolution (LR) input, which…

Deep neural networks have been widely used in image denoising during the past few years. Even though they achieve great success on this problem, they are computationally inefficient which makes them inappropriate to be implemented in mobile…

Recently, robotic grasp detection (GD) and object detection (OD) with reasoning have been investigated using deep neural networks (DNNs). There have been works to combine these multi-tasks using separate networks so that robots can deal…

Graphs are a useful abstraction of image content. Not only can graphs represent details about individual objects in a scene but they can capture the interactions between pairs of objects. We present a method for training a convolutional…

Deep networks have been successfully applied to visual tracking by learning a generic representation offline from numerous training images. However the offline training is time-consuming and the learned generic representation may be less…

We introduce a deep learning-based method to generate full 3D hair geometry from an unconstrained image. Our method can recover local strand details and has real-time performance. State-of-the-art hair modeling techniques rely on large…

Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…

Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…

Deep learning can be used to extract meaningful results from images. In this paper, we used convolutional neural networks combined with recurrent neural networks on images of plasmonic structures and extract absorption data form them. To…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Robotic manipulation of unseen objects via natural language commands remains challenging. Language driven robotic grasping (LDRG) predicts stable grasp poses from natural language queries and RGB-D images. We propose MapleGrasp, a novel…

We investigate the problem of training neural networks from incomplete images without replacing missing values. For this purpose, we first represent an image as a graph, in which missing pixels are entirely ignored. The graph image…

We present a fast algorithm for training MaxPooling Convolutional Networks to segment images. This type of network yields record-breaking performance in a variety of tasks, but is normally trained on a computationally expensive…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…