Related papers: Show and Grasp: Few-shot Semantic Segmentation for…
In visual recognition tasks, few-shot learning requires the ability to learn object categories with few support examples. Its re-popularity in light of the deep learning development is mainly in image classification. This work focuses on…
In this work, we address the task of few-shot part segmentation, which aims to segment the different parts of an unseen object using very few labeled examples. It is found that leveraging the textual space of a powerful pre-trained…
A segmentation-based architecture is proposed to decompose objects into multiple primitive shapes from monocular depth input for robotic manipulation. The backbone deep network is trained on synthetic data with 6 classes of primitive shapes…
Few-Shot Semantic Segmentation (FSS) focuses on segmenting novel object categories from only a handful of annotated examples. Most existing approaches rely on extensive episodic training to learn transferable representations, which is both…
In the modern era of Deep Learning, network parameters play a vital role in models efficiency but it has its own limitations like extensive computations and memory requirements, which may not be suitable for real time intelligent robot…
Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are often tailored to specific grippers, limiting their…
Semantic segmentation models are limited in their ability to scale to large numbers of object classes. In this paper, we introduce the new task of zero-shot semantic segmentation: learning pixel-wise classifiers for never-seen object…
Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of object images and grasp labels. However, empirical grasping…
Robot perception systems need to perform reliable image segmentation in real-time on noisy, raw perception data. State-of-the-art segmentation approaches use large CNN models and carefully constructed datasets; however, these models focus…
Semantic segmentation is a significant perception task in autonomous driving. It suffers from the risks of adversarial examples. In the past few years, deep learning has gradually transitioned from convolutional neural network (CNN) models…
Robotic grasping is a fundamental capability for autonomous manipulation, yet remains highly challenging in cluttered environments where occlusion, poor perception quality, and inconsistent 3D reconstructions often lead to unstable or…
Existing few-shot segmentation (FSS) methods mainly focus on designing novel support-query matching and self-matching mechanisms to exploit implicit knowledge in pre-trained backbones. However, the performance of these methods is often…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…
In semantic segmentation, accurate prediction masks are crucial for downstream tasks such as medical image analysis and image editing. Due to the lack of annotated data, few-shot semantic segmentation (FSS) performs poorly in predicting…
Many robotic tasks require grasping objects at specific object parts instead of arbitrarily, a crucial capability for interactions beyond simple pick-and-place, such as human-robot interaction, handovers, or tool use. Prior work has focused…
This paper tackles the problem of few-shot learning, which aims to learn new visual concepts from a few examples. A common problem setting in few-shot classification assumes random sampling strategy in acquiring data labels, which is…
Few-shot semantic segmentation (FSS) aims to achieve novel objects segmentation with only a few annotated samples and has made great progress recently. Most of the existing FSS models focus on the feature matching between support and query…
Few-shot classification aims to learn a classifier to recognize unseen classes during training with limited labeled examples. While significant progress has been made, the growing complexity of network designs, meta-learning algorithms, and…
Recognizing and grasping novel-category objects remains a crucial yet challenging problem in real-world robotic applications. Despite its significance, limited research has been conducted in this specific domain. To address this, we…