Related papers: DcnnGrasp: Towards Accurate Grasp Pattern Recognit…
Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
Graph neural networks (GNNs) have drawn increasing attention in recent years and achieved remarkable performance in many graph-based tasks, especially in semi-supervised learning on graphs. However, most existing GNNs are based on the…
Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
Graph convolutional neural networks (GCN) have been the model of choice for graph representation learning, which is mainly due to the effective design of graph convolution that computes the representation of a node by aggregating those of…
This paper presents an AI system applied to location and robotic grasping. Experimental setup is based on a parameter study to train a deep-learning network based on Mask-RCNN to perform waste location in indoor and outdoor environment,…
We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…
The objective of image manipulation detection is to identify and locate the manipulated regions in the images. Recent approaches mostly adopt the sophisticated Convolutional Neural Networks (CNNs) to capture the tampering artifacts left in…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…
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…
Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…
Dynamic graph learning (DGL) aims to learn informative and temporally-evolving node embeddings to support downstream tasks such as link prediction. A fundamental challenge in DGL lies in effectively modeling both the temporal dynamics and…
Tactile sensors provide useful contact data during the interaction with an object which can be used to accurately learn to determine the stability of a grasp. Most of the works in the literature represented tactile readings as plain feature…
RGB-D salient object detection aims to identify the most visually distinctive objects in a pair of color and depth images. Based upon an observation that most of the salient objects may stand out at least in one modality, this paper…
Deep convolutional neural network (DCNN) based supervised learning is a widely practiced approach for large-scale image classification. However, retraining these large networks to accommodate new, previously unseen data demands high…
Partial-view 3D recognition -- reconstructing 3D geometry and identifying object instances from a few sparse RGB images -- is an exceptionally challenging yet practically essential task, particularly in cluttered, occluded real-world…
High-level robotic manipulation tasks demand flexible 6-DoF grasp estimation to serve as a basic function. Previous approaches either directly generate grasps from point-cloud data, suffering from challenges with small objects and sensor…
Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable due to physical constraints. Even though it is…