Related papers: A Joint Network for Grasp Detection Conditioned on…

Camouflaged object detection (COD), segmenting objects that are elegantly blended into their surroundings, is a valuable yet challenging task. Existing deep-learning methods often fall into the difficulty of accurately identifying the…

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…

This article presents a method for grasping novel objects by learning from experience. Successful attempts are remembered and then used to guide future grasps such that more reliable grasping is achieved over time. To generalise the learned…

We present the Grasp Proposal Network (GP-net), a Convolutional Neural Network model which can generate 6-DoF grasps from flexible viewpoints, e.g. as experienced by mobile manipulators. To train GP-net, we synthetically generate a dataset…

Multi-object grasping is a challenging task. It is important for energy and cost-efficient operation of industrial crane manipulators, such as those used to collect tree logs from the forest floor and on forest machines. In this work, we…

This work provides an architecture that incorporates depth and tactile information to create rich and accurate 3D models useful for robotic manipulation tasks. This is accomplished through the use of a 3D convolutional neural network (CNN).…

Grasping made impressive progress during the last few years thanks to deep learning. However, there are many objects for which it is not possible to choose a grasp by only looking at an RGB-D image, might it be for physical reasons (e.g., a…

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…

Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…

Object segmentation for robotic grasping under dynamic conditions often faces challenges such as occlusion, low light conditions, motion blur and object size variance. To address these challenges, we propose a Deep Learning network that…

In this paper, we present a novel framework to detect line segments in man-made environments. Specifically, we propose to describe junctions, line segments and relationships between them with a simple graph, which is more structured and…

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…

The deep learning models has significantly advanced dexterous manipulation techniques for multi-fingered hand grasping. However, the contact information-guided grasping in cluttered environments remains largely underexplored. To address…

In this work, we introduce a novel, end-to-end trainable CNN-based architecture to deliver high quality results for grasp detection suitable for a parallel-plate gripper, and semantic segmentation. Utilizing this, we propose a novel…

Can machine automatically generate multiple distinct and natural hand grasps, given specific contact region of an object in 3D? This motivates us to consider a novel task of \textit{Region Controllable Hand Grasp Generation (RegionGrasp)},…

The demand of applying semantic segmentation model on mobile devices has been increasing rapidly. Current state-of-the-art networks have enormous amount of parameters hence unsuitable for mobile devices, while other small memory footprint…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

This paper introduces DGNet, a novel deep framework that exploits object gradient supervision for camouflaged object detection (COD). It decouples the task into two connected branches, i.e., a context and a texture encoder. The essential…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…