Related papers: Learn to Grasp with Less Supervision: A Data-Effic…

Multilayer perceptron (MLP), one of the most fundamental neural networks, is extensively utilized for classification and regression tasks. In this paper, we establish a new generalization error bound, which reveals how the variance of…

We study the problem of semi-supervised learning on graphs in the regime where data labels are scarce or possibly corrupted. We propose an approach called $p$-conductance learning that generalizes the $p$-Laplace and Poisson learning…

Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for…

Partial Label (PL) learning refers to the task of learning from the partially labeled data, where each training instance is ambiguously equipped with a set of candidate labels but only one is valid. Advances in the recent deep PL learning…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

Recent advancements in semi-supervised deep learning have introduced effective strategies for leveraging both labeled and unlabeled data to improve classification performance. This work proposes a semi-supervised framework that utilizes a…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

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…

Recognizing multiple objects in an image is challenging due to occlusions, and becomes even more so when the objects are small. While promising, existing multi-label image recognition models do not explicitly learn context-based…

Learning with Noisy Labels (LNL) has attracted significant attention from the research community. Many recent LNL methods rely on the assumption that clean samples tend to have "small loss". However, this assumption always fails to…

Regression problems are pervasive in real-world applications. Generally a substantial amount of labeled samples are needed to build a regression model with good generalization ability. However, many times it is relatively easy to collect a…

In planar grasp detection, the goal is to learn a function from an image of a scene onto a set of feasible grasp poses in $\mathrm{SE}(2)$. In this paper, we recognize that the optimal grasp function is $\mathrm{SE}(2)$-equivariant and can…

Data-efficient domain adaptation with only a few labelled data is desired for many robotic applications, e.g., in grasping detection, the inference skill learned from a grasping dataset is not universal enough to directly apply on various…

Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits…

To explore underlying complementary information from multiple views, in this paper, we propose a novel Latent Multi-view Semi-Supervised Classification (LMSSC) method. Unlike most existing multi-view semi-supervised classification methods…

Numerous researches have proved that deep neural networks (DNNs) can fit everything in the end even given data with noisy labels, and result in poor generalization performance. However, recent studies suggest that DNNs tend to gradually…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

Computational efficiency is a major bottleneck in using classic graph-based approaches for semi-supervised learning on datasets with a large number of unlabeled examples. Known techniques to improve efficiency typically involve an…