Related papers: FuncGrasp: Learning Object-Centric Neural Grasp Fu…
We present Neural Descriptor Fields (NDFs), an object representation that encodes both points and relative poses between an object and a target (such as a robot gripper or a rack used for hanging) via category-level descriptors. We employ…
We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a voxel-based 3D convolutional neural network to predict grasp success probability as a function of both visual information…
In this work, we tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. The goal is to grasp and lift up objects in high-quality and diverse ways and generalize across…
Sequentially grasping multiple objects with multi-fingered hands is common in daily life, where humans can fully leverage the dexterity of their hands to enclose multiple objects. However, the diversity of object geometries and the complex…
Traditional learning from demonstration (LfD) generally demands a cumbersome collection of physical demonstrations, which can be time-consuming and challenging to scale. Recent advances show that robots can instead learn from human videos…
Recent years have seen soft robotic grippers gain increasing attention due to their ability to robustly grasp soft and fragile objects. However, a commonly available standardised evaluation protocol has not yet been developed to assess the…
Recent advances in dexterous grasping synthesis have demonstrated significant progress in producing reasonable and plausible grasps for many task purposes. But it remains challenging to generalize to unseen object categories and diverse…
This paper presents a general graph representation learning framework called DeepGL for learning deep node and edge representations from large (attributed) graphs. In particular, DeepGL begins by deriving a set of base features (e.g.,…
Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural Deforming Contact Field (NDCF), a representation that…
We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…
Grasping made impressive progress during the last few years thanks to deep learning. However, there are many objects for which it is not possible to choose a grasp by only looking at an RGB-D image, might it be for physical reasons (e.g., a…
A series of region-based methods succeed in extracting regional features and enhancing grasp detection quality. However, faced with a cluttered scene with potential collision, the definition of the grasp-relevant region stays inconsistent,…
We present a framework for efficient perceptual inference that explicitly reasons about the segmentation of its inputs and features. Rather than being trained for any specific segmentation, our framework learns the grouping process in an…
In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…
This article presents a method for grasping novel objects by learning from experience. Successful attempts are remembered and then used to guide future grasps such that more reliable grasping is achieved over time. To generalise the learned…
The ability to identify and localize new objects robustly and effectively is vital for robotic grasping and manipulation in warehouses or smart factories. Deep convolutional neural networks (DCNNs) have achieved the state-of-the-art…
Currently, robotic grasping methods based on sparse partial point clouds have attained a great grasping performance on various objects while they often generate wrong grasping candidates due to the lack of geometric information on the…
Selecting out-of-reach objects is a fundamental task in mixed reality (MR). Existing methods rely on a single cue or deterministically fuse multiple cues, leading to performance degradation when the dominant cue becomes unreliable. In this…
We propose DistillNeRF, a self-supervised learning framework addressing the challenge of understanding 3D environments from limited 2D observations in outdoor autonomous driving scenes. Our method is a generalizable feedforward model that…
Task-driven features learned by modern object detectors optimize end task loss yet often capture shortcut correlations that fail to reflect underlying annotation structure. Such representations limit transfer, interpretability, and…