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Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…
In this paper, we present a modular robotic system to tackle the problem of generating and performing antipodal robotic grasps for unknown objects from n-channel image of the scene. We propose a novel Generative Residual Convolutional…
This work studies training generative adversarial networks under the federated learning setting. Generative adversarial networks (GANs) have achieved advancement in various real-world applications, such as image editing, style transfer,…
This paper concerns the problem of how to learn to grasp dexterously, so as to be able to then grasp novel objects seen only from a single view-point. Recently, progress has been made in data-efficient learning of generative grasp models…
One of the most significant challenges in statistical signal processing and machine learning is how to obtain a generative model that can produce samples of large-scale data distribution, such as images and speeches. Generative Adversarial…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or rely on unstable and ambiguous style rewards. In this paper,…
In unsupervised data generation tasks, besides the generation of a sample based on previous observations, one would often like to give hints to the model in order to bias the generation towards desirable metrics. We propose a method that…
Generative Adversarial Networks (GANs) are a class of neural networks that have been widely used in the field of image-to-image translation. In this paper, we propose a streamlined image-to-image translation network with a simpler…
We demonstrate that a generative model for object shapes can achieve state of the art results on challenging scene text recognition tasks, and with orders of magnitude fewer training images than required for competing discriminative…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
The significant progress on Generative Adversarial Networks (GANs) has facilitated realistic single-object image generation based on language input. However, complex-scene generation (with various interactions among multiple objects) still…
Generative Adversarial Network (GAN) and its variants exhibit state-of-the-art performance in the class of generative models. To capture higher-dimensional distributions, the common learning procedure requires high computational complexity…
Deep neural networks have been shown to perform well in many classical machine learning problems, especially in image classification tasks. However, researchers have found that neural networks can be easily fooled, and they are surprisingly…
Generative adversarial networks (GANs) have shown considerable success, especially in the realistic generation of images. In this work, we apply similar techniques for the generation of text. We propose a novel approach to handle the…
We investigate the problem of learning a probabilistic distribution over three-dimensional shapes given two-dimensional views of multiple objects taken from unknown viewpoints. Our approach called projective generative adversarial network…
This paper introduces a novel approach for unsupervised object co-localization using Generative Adversarial Networks (GANs). GAN is a powerful tool that can implicitly learn unknown data distributions in an unsupervised manner. From the…
Neural networks have a number of shortcomings. Amongst the severest ones is the sensitivity to distribution shifts which allows models to be easily fooled into wrong predictions by small perturbations to inputs that are often imperceivable…
The traditional approach of hand-crafting priors (such as sparsity) for solving inverse problems is slowly being replaced by the use of richer learned priors (such as those modeled by deep generative networks). In this work, we study the…
Generative Adversarial Networks (GAN) have attracted much research attention recently, leading to impressive results for natural image generation. However, to date little success was observed in using GAN generated images for improving…