Related papers: Meta-Learning Regrasping Strategies for Physical-A…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

Deep neural networks (DNN) have shown great capacity of modeling a dynamical system; nevertheless, they usually do not obey physics constraints such as conservation laws. This paper proposes a new learning framework named ConCerNet to…

Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…

The superior performance of Deformable Convolutional Networks arises from its ability to adapt to the geometric variations of objects. Through an examination of its adaptive behavior, we observe that while the spatial support for its neural…

In this paper, we introduce an innovative method to improve the convergence speed and accuracy of object detection neural networks. Our approach, CONVERGE-FAST-AUXNET, is based on employing multiple, dependent loss metrics and weighting…

Adverse weather conditions such as haze, rain, and snow often impair the quality of captured images, causing detection networks trained on normal images to generalize poorly in these scenarios. In this paper, we raise an intriguing question…

Utilizing task-invariant prior knowledge extracted from related tasks, meta-learning is a principled framework that empowers learning a new task especially when data records are limited. A fundamental challenge in meta-learning is how to…

We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal…

Humans learn to recognize and manipulate new objects in lifelong settings without forgetting the previously gained knowledge under non-stationary and sequential conditions. In autonomous systems, the agents also need to mitigate similar…

Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…

We propose an end-to-end learning framework for segmenting generic objects in both images and videos. Given a novel image or video, our approach produces a pixel-level mask for all "object-like" regions---even for object categories never…

Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactile sensors in theory can equip the robots with such…

Dense Object Nets (DONs) by Florence, Manuelli and Tedrake (2018) introduced dense object descriptors as a novel visual object representation for the robotics community. It is suitable for many applications including object grasping, policy…

Learning object affordances is an effective tool in the field of robot learning. While the data-driven models investigate affordances of single or paired objects, there is a gap in the exploration of affordances of compound objects composed…

Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it meanwhile suffers from training data…

Equipping a deep model the abaility of few-shot learning, i.e., learning quickly from only few examples, is a core challenge for artificial intelligence. Gradient-based meta-learning approaches effectively address the challenge by learning…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

The majority of descriptor-based methods for geometric processing of non-rigid shape rely on hand-crafted descriptors. Recently, learning-based techniques have been shown effective, achieving state-of-the-art results in a variety of tasks.…

We propose a novel approach to model viscoelasticity materials using neural networks, which capture rate-dependent and nonlinear constitutive relations. However, inputs and outputs of the neural networks are not directly observable, and…

In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we…