Related papers: A Single Multi-Task Deep Neural Network with Post-…

Deep neural networks (DNNs) have shown unprecedented success in object detection tasks. However, it was also discovered that DNNs are vulnerable to multiple kinds of attacks, including Backdoor Attacks. Through the attack, the attacker…

In this paper we propose an end-to-end learnable approach that detects static urban objects from multiple views, re-identifies instances, and finally assigns a geographic position per object. Our method relies on a Graph Neural Network…

Deep neural network (DNN) based approaches hold significant potential for reinforcement learning (RL) and have already shown remarkable gains over state-of-art methods in a number of applications. The effectiveness of DNN methods can be…

High-level robotic manipulation tasks demand flexible 6-DoF grasp estimation to serve as a basic function. Previous approaches either directly generate grasps from point-cloud data, suffering from challenges with small objects and sensor…

Emerging intelligent embedded devices rely on Deep Neural Networks (DNNs) to be able to interact with the real-world environment. This interaction comes with the ability to retrain DNNs, since environmental conditions change continuously in…

Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval…

Modern neuroimaging techniques, such as diffusion tensor imaging (DTI) and functional magnetic resonance imaging (fMRI), enable us to model the human brain as a brain network or connectome. Capturing brain networks' structural information…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Robotic grasping in densely cluttered environments is challenging due to scarce collision-free grasp affordances. Non-prehensile actions can increase feasible grasps in cluttered environments, but most research focuses on single-arm rather…

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…

Image retrieval refers to finding relevant images from an image database for a query, which is considered difficult for the gap between low-level representation of images and high-level representation of queries. Recently further developed…

Recently, Vision Graph Neural Network (ViG) has gained considerable attention in computer vision. Despite its groundbreaking innovation, Vision Graph Neural Network encounters key issues including the quadratic computational complexity…

Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…

Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers, such as proportional-integral-derivative (PID) controllers,…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…

This paper presents a real-time, object-independent grasp synthesis method which can be used for closed-loop grasping. Our proposed Generative Grasping Convolutional Neural Network (GG-CNN) predicts the quality and pose of grasps at every…

Learning robotic grasps from visual observations is a promising yet challenging task. Recent research shows its great potential by preparing and learning from large-scale synthetic datasets. For the popular, 6 degree-of-freedom (6-DOF)…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

Deep neural networks (DNNs) are state-of-the-art techniques for solving most computer vision problems. DNNs require billions of parameters and operations to achieve state-of-the-art results. This requirement makes DNNs extremely compute,…

Contemporary grasp detection approaches employ deep learning to achieve robustness to sensor and object model uncertainty. The two dominant approaches design either grasp-quality scoring or anchor-based grasp recognition networks. This…