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Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

Self-supervised learning methods are attractive candidates for automatic object picking. However, the trial samples lack the complete ground truth because the observable parts of the agent are limited. That is, the information contained in…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

This paper proposes to use keypoints as a self-supervision clue for learning depth map estimation from a collection of input images. As ground truth depth from real images is difficult to obtain, there are many unsupervised and…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

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,…

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…

Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

Current learning-based robot grasping approaches exploit human-labeled datasets for training the models. However, there are two problems with such a methodology: (a) since each object can be grasped in multiple ways, manually labeling grasp…

We present a robotic grasping system that uses a single external monocular RGB camera as input. The object-to-robot pose is computed indirectly by combining the output of two neural networks: one that estimates the object-to-camera pose,…

Estimating depth from a single RGB images is a fundamental task in computer vision, which is most directly solved using supervised deep learning. In the field of unsupervised learning of depth from a single RGB image, depth is not given…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

In this project, we propose a novel approach for estimating depth from RGB images. Traditionally, most work uses a single RGB image to estimate depth, which is inherently difficult and generally results in poor performance, even with…

Depth maps produced by consumer-grade sensors suffer from inaccurate measurements and missing data from either system or scene-specific sources. Data-driven denoising algorithms can mitigate such problems. However, they require vast amounts…

In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Deep learning has significantly advanced computer vision and natural language processing. While there have been some successes in robotics using deep learning, it has not been widely adopted. In this paper, we present a novel robotic grasp…