Related papers: Show and Grasp: Few-shot Semantic Segmentation for…
Despite the great progress made by deep CNNs in image semantic segmentation, they typically require a large number of densely-annotated images for training and are difficult to generalize to unseen object categories. Few-shot segmentation…
Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…
Few-shot part segmentation aims to separate different parts of an object given only a few annotated samples. Due to the challenge of limited data, existing works mainly focus on learning classifiers over pre-trained features, failing to…
The Segment Anything Model (SAM) exhibits remarkable versatility and zero-shot learning abilities, owing largely to its extensive training data (SA-1B). Recognizing SAM's dependency on manual guidance given its category-agnostic nature, we…
Many modern deep-learning techniques do not work without enormous datasets. At the same time, several fields demand methods working in scarcity of data. This problem is even more complex when the samples have varying structures, as in the…
Few-shot learning aims at rapidly adapting to novel categories with only a handful of samples at test time, which has been predominantly tackled with the idea of meta-learning. However, meta-learning approaches essentially learn across a…
We consider the task of semantic robotic grasping, in which a robot picks up an object of a user-specified class using only monocular images. Inspired by the two-stream hypothesis of visual reasoning, we present a semantic grasping…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…
To address the annotation scarcity issue in some cases of semantic segmentation, there have been a few attempts to develop the segmentation model in the few-shot learning paradigm. However, most existing methods only focus on the…
Humans inherently recognize objects via selective visual perception, transform specific regions from the visual field into structured symbolic knowledge, and reason their relationships among regions based on the allocation of limited…
6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping…
Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…
Suction is an important solution for the longstanding robotic grasping problem. Compared with other kinds of grasping, suction grasping is easier to represent and often more reliable in practice. Though preferred in many scenarios, it is…
Transfer learning enables the sharing of common knowledge among models for a variety of downstream tasks, but traditional methods suffer in limited training data settings and produce narrow models incapable of effectively generalizing under…
Robotic grasping is one of the most fundamental tasks in robotic manipulation, and grasp detection/generation has long been the subject of extensive research. Recently, language-driven grasp generation has emerged as a promising direction…
Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…
Visual semantic segmentation aims at separating a visual sample into diverse blocks with specific semantic attributes and identifying the category for each block, and it plays a crucial role in environmental perception. Conventional…
Methods for object detection and segmentation often require abundant instance-level annotations for training, which are time-consuming and expensive to collect. To address this, the task of zero-shot object detection (or segmentation) aims…
The recent advancements in large-scale pre-training techniques have significantly enhanced the capabilities of vision foundation models, notably the Segment Anything Model (SAM), which can generate precise masks based on point and box…