Related papers: Language-guided Robot Grasping: CLIP-based Referri…
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object…
While grasps must satisfy the grasping stability criteria, good grasps depend on the specific manipulation scenario: the object, its properties and functionalities, as well as the task and grasp constraints. In this paper, we consider such…
We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex…
We introduce AO-Grasp, a grasp proposal method that generates 6 DoF grasps that enable robots to interact with articulated objects, such as opening and closing cabinets and appliances. AO-Grasp consists of two main contributions: the…
Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also…
General robot grasping in clutter requires the ability to synthesize grasps that work for previously unseen objects and that are also robust to physical interactions, such as collisions with other objects in the scene. In this work, we…
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…
Multi-object grasping is a challenging task. It is important for energy and cost-efficient operation of industrial crane manipulators, such as those used to collect tree logs from the forest floor and on forest machines. In this work, we…
Vision-based grasping of unknown objects in unstructured environments is a key challenge for autonomous robotic manipulation. A practical grasp synthesis system is required to generate a diverse set of 6-DoF grasps from which a…
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…
Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose generation. However, they either overlooked the importance of…
This paper studies the task of any objects grasping from the known categories by free-form language instructions. This task demands the technique in computer vision, natural language processing, and robotics. We bring these disciplines…
A representation gap exists between grasp synthesis for rigid and soft grippers. Anygrasp [1] and many other grasp synthesis methods are designed for rigid parallel grippers, and adapting them to soft grippers often fails to capture their…
In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during…
One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…
Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…
We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…
This paper presents a real-time, object-independent grasp synthesis method which can be used for closed-loop grasping. Our proposed Generative Grasping Convolutional Neural Network (GG-CNN) predicts the quality and pose of grasps at every…