Related papers: 6-DOF GraspNet: Variational Grasp Generation for O…
The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…
This paper presents an efficient neural network model to generate robotic grasps with high resolution images. The proposed model uses fully convolution neural network to generate robotic grasps for each pixel using 400 $\times$ 400 high…
Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…
6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…
Grasping algorithms have evolved from planar depth grasping to utilizing point cloud information, allowing for application in a wider range of scenarios. However, data-driven grasps based on models trained on basic open-source datasets may…
Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for…
Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…
Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…
Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…
There has been increasing interest in smart factories powered by robotics systems to tackle repetitive, laborious tasks. One impactful yet challenging task in robotics-powered smart factory applications is robotic grasping: using robotic…
Adaptable models could greatly benefit robotic agents operating in the real world, allowing them to deal with novel and varying conditions. While approaches such as Bayesian inference are well-studied frameworks for adapting models to…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…
This paper focuses on the problem of learning 6-DOF grasping with a parallel jaw gripper in simulation. We propose the notion of a geometry-aware representation in grasping based on the assumption that knowledge of 3D geometry is at the…
Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…
Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…
In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…
Robotic grasping is a fundamental yet crucial component of robotic applications, as effective grasping often serves as the starting point for various tasks. With the rapid advancement of neural networks, data-driven approaches for robotic…
Dexterous grasping is fundamental to robotics, yet data-driven grasp prediction heavily relies on large, diverse datasets that are costly to generate and typically limited to a narrow set of gripper morphologies. Analytical grasp synthesis…
Task-oriented dexterous grasping remains challenging in robotic manipulations of open-world objects under severe partial observation, where significant missing data invalidates generic shape completion. In this paper, to overcome this…