Related papers: Only Pick Once -- Multi-Object Picking Algorithms …

In this work, we describe a multi-object grasping benchmark to evaluate the grasping and manipulation capabilities of robotic systems in both pile and surface scenarios. The benchmark introduces three robot multi-object grasping…

Transferring multiple objects between bins is a common task for many applications. In robotics, a standard approach is to pick up one object and transfer it at a time. However, grasping and picking up multiple objects and transferring them…

Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping…

We present YOLO, a new approach to object detection. Prior work on object detection repurposes classifiers to perform detection. Instead, we frame object detection as a regression problem to spatially separated bounding boxes and associated…

We consider a novel problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface visible from an overhead camera. The objective is to efficiently grasp and transport all…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…

We introduce a new family of mechanisms for one-sided matching markets, denoted pick-an-object (PAO) mechanisms. When implementing an allocation rule via PAO, agents are asked to pick an object from individualized menus. These choices may…

This paper addresses the problem of picking up only one object at a time avoiding any entanglement in bin-picking. To cope with a difficult case where the complex-shaped objects are heavily entangled together, we propose a topology-based…

This paper is concerned with a recently developed paradigm for population-based optimization, termed particle filter optimization (PFO). This paradigm is attractive in terms of coherence in theory and easiness in mathematical analysis and…

For grasp network algorithms, generating grasp datasets for a large number of 3D objects is a crucial task. However, generating grasp datasets for hundreds of objects can be very slow and consume a lot of storage resources, which hinders…

A human hand can grasp a desired number of objects at once from a pile based solely on tactile sensing. To do so, a robot needs to grasp within a pile, sense the number of objects in the grasp before lifting, and predict the number of…

We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently transported to a packing box using both single and multi-object…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Objects grasping, also known as the bin-picking, is one of the most common tasks faced by industrial robots. While much work has been done in related topics, grasping randomly piled objects still remains a challenge because much of the…

We present a novel, general, optimally fast, incremental way of searching for a universal algorithm that solves each task in a sequence of tasks. The Optimal Ordered Problem Solver (OOPS) continually organizes and exploits previously found…

This paper proposes a novel bin picking framework, two-stage grasping, aiming at precise grasping of cluttered small objects. Object density estimation and rough grasping are conducted in the first stage. Fine segmentation, detection,…

When humans have to solve everyday tasks, they simply pick the objects that are most suitable. While the question which object should one use for a specific task sounds trivial for humans, it is very difficult to answer for robots or other…

While unlabeled image data is often plentiful, the costs of high-quality labels pose an important practical challenge: Which images should one select for labeling to use the annotation budget for a particular target task most effectively?…

Recently, neural architecture search (NAS) has been exploited to design feature pyramid networks (FPNs) and achieved promising results for visual object detection. Encouraged by the success, we propose a novel One-Shot Path Aggregation…

Object proposal is essential for current state-of-the-art object detection pipelines. However, the existing proposal methods generally fail in producing results with satisfying localization accuracy. The case is even worse for small objects…