Related papers: GoNet: An Approach-Constrained Generative Grasp Sa…
While deeper convolutional networks are needed to achieve maximum accuracy in visual perception tasks, for many inputs shallower networks are sufficient. We exploit this observation by learning to skip convolutional layers on a per-input…
In this paper, we present Segmentation-Based Grasp Detection Network (SGDN) to predict a feasible robotic grasping for a unsymmetrical three-finger robotic gripper using RGB images. The feasible grasping of a target should be a collection…
Generative flow networks (GFlowNets) are a family of algorithms that learn a generative policy to sample discrete objects $x$ with non-negative reward $R(x)$. Learning objectives guarantee the GFlowNet samples $x$ from the target…
Graph Neural Networks (GNNs) are powerful tools for learning from graph-structured data, but their scalability is increasingly strained by the size of real-world graphs in domains like recommender systems, fraud detection, and molecular…
Many machine learning applications require outputs that satisfy complex, dynamic constraints. This task is particularly challenging in Graph Neural Network models due to the variable output sizes of graph-structured data. In this paper, we…
This paper presents Sim-Suction, a robust object-aware suction grasp policy for mobile manipulation platforms with dynamic camera viewpoints, designed to pick up unknown objects from cluttered environments. Suction grasp policies typically…
Recently, graph-based models designed for downstream tasks have significantly advanced research on graph neural networks (GNNs). GNN baselines based on neural message-passing mechanisms such as GCN and GAT perform worse as the network…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…
We present a performant, general-purpose gradient-guided nested sampling algorithm, ${\tt GGNS}$, combining the state of the art in differentiable programming, Hamiltonian slice sampling, clustering, mode separation, dynamic nested…
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…
Shape deviation modeling and compensation in additive manufacturing are pivotal for achieving high geometric accuracy and enabling industrial-scale production. Critical challenges persist, including generalizability across complex…
As a powerful tool for modeling graph data, Graph Neural Networks (GNNs) have received increasing attention in both academia and industry. Nevertheless, it is notoriously difficult to deploy GNNs on industrial scale graphs, due to their…
In this paper, we examine the long-neglected yet important effects of point sampling patterns in point cloud GANs. Through extensive experiments, we show that sampling-insensitive discriminators (e.g.PointNet-Max) produce shape point clouds…
Graph neural networks (GNNs) have brought revolutionary advancements to the field of link prediction (LP), providing powerful tools for mining potential relationships in graphs. However, existing methods face challenges when dealing with…
Generative Flow Networks (GFlowNets) are powerful samplers for compositional objects that, by design, sample proportionally to a given non-negative reward. Nonetheless, in practice, they often struggle to explore the reward landscape…
Generative Flow Networks (GFlowNets) have been introduced as a method to sample a diverse set of candidates with probabilities proportional to a given reward. However, GFlowNets can only be used with a predefined scalar reward, which can be…
Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…
Autonomous bin picking poses significant challenges to vision-driven robotic systems given the complexity of the problem, ranging from various sensor modalities, to highly entangled object layouts, to diverse item properties and gripper…
In this paper we study grasp problem in dense cluster, a challenging task in warehouse logistics scenario. By introducing a two-step robust suction affordance detection method, we focus on using vacuum suction pad to clear up a box filled…
Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…