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6D grasping in cluttered scenes is a longstanding problem in robotic manipulation. Open-loop manipulation pipelines may fail due to inaccurate state estimation, while most end-to-end grasping methods have not yet scaled to complex scenes…
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…
Despite the recent progress on 6D object pose estimation methods for robotic grasping, a substantial performance gap persists between the capabilities of these methods on existing datasets and their efficacy in real-world grasping and…
Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…
Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…
Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…
Despite the impressive progress achieved in robotic grasping, robots are not skilled in sophisticated tasks (e.g. search and grasp a specified target in clutter). Such tasks involve not only grasping but the comprehensive perception of the…
Scooping items with tools such as spoons and ladles is common in daily life, ranging from assistive feeding to retrieving items from environmental disaster sites. However, developing a general and autonomous robotic scooping policy is…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
We introduce PACE (Pose Annotations in Cluttered Environments), a large-scale benchmark designed to advance the development and evaluation of pose estimation methods in cluttered scenarios. PACE provides a large-scale real-world benchmark…
We focus on the task of goal-oriented grasping, in which a robot is supposed to grasp a pre-assigned goal object in clutter and needs some pre-grasp actions such as pushes to enable stable grasps. However, in this task, the robot gets…
This paper identifies and addresses a serious design bias of existing salient object detection (SOD) datasets, which unrealistically assume that each image should contain at least one clear and uncluttered salient object. This design bias…
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…
Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered environments, often exhibiting prohibitive computational cost,…
In vision-based robot manipulation, a single camera view can only capture one side of objects of interest, with additional occlusions in cluttered scenes further restricting visibility. As a result, the observed geometry is incomplete, and…
We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…
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…
Multiple-suction-cup grasping can improve the efficiency of bin picking in cluttered scenes. In this paper, we propose a grasp planner for a vacuum gripper to use multiple suction cups to simultaneously grasp multiple objects or an object…
Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…
A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…