Related papers: Cloth Region Segmentation for Robust Grasp Selecti…
Video object segmentation, i.e., the separation of a target object from background in video, has made significant progress on real and challenging videos in recent years. To leverage this progress in 3D applications, this paper addresses…
Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…
Robotic deformable-object manipulation is a challenge in the robotic industry because deformable objects have complicated and various object states. Predicting those object states and updating manipulation planning is time-consuming and…
This paper explores a novel approach to model strategies for flattening wrinkled cloth learning from humans. A human participant study was conducted where the participants were presented with various wrinkle types and tasked with flattening…
The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…
Motion segmentation is currently an active area of research in computer Vision. The task of comparing different methods of motion segmentation is complicated by the fact that researchers may use subtly different definitions of the problem.…
Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…
Grasp learning has become an exciting and important topic in robotics. Just a few years ago, the problem of grasping novel objects from unstructured piles of clutter was considered a serious research challenge. Now, it is a capability that…
Garment folding is a common yet challenging task in robotic manipulation. The deformability of garments leads to a vast state space and complex dynamics, which complicates precise and fine-grained manipulation. Previous approaches often…
We consider the problem of open-goal planning for robotic cloth manipulation. Core of our system is a neural network trained as a forward model of cloth behaviour under manipulation, with planning performed through backpropagation. We…
Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this…
Robust segmentation for non-elongated tissues in medical images is hard to realize due to the large variation of the shape, size, and appearance of these tissues in different patients. In this paper, we present an end-to-end trainable deep…
Industrial bin picking is a challenging task that requires accurate and robust segmentation of individual object instances. Particularly, industrial objects can have irregular shapes, that is, thin and concave, whereas in bin-picking…
We investigate the problem of pixelwise correspondence for deformable objects, namely cloth and rope, by comparing both classical and learning-based methods. We choose cloth and rope because they are traditionally some of the most difficult…
The accurate representation of fine-detailed cloth wrinkles poses significant challenges in computer graphics. The inherently non-uniform structure of cloth wrinkles mandates the employment of intricate discretization strategies, which are…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Robotic caregivers could potentially improve the quality of life of many who require physical assistance. However, in order to assist individuals who are lying in bed, robots must be capable of dealing with a significant obstacle: the…
Clothes manipulation is a critical capability for household robots; yet, existing methods are often confined to specific tasks, such as folding or flattening, due to the complex high-dimensional geometry of deformable fabric. This paper…
This paper proposes a new approach to detecting grasp points on novel objects presented in clutter. The input to our algorithm is a point cloud and the geometric parameters of the robot hand. The output is a set of hand configurations that…
Line segment detection plays a cornerstone role in computer vision tasks. Among numerous detection methods that have been recently proposed, the ones based on edge drawing attract increasing attention owing to their excellent detection…