Related papers: Region-aware Grasp Framework with Normalized Grasp…
Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer…
The task of grasp pattern recognition aims to derive the applicable grasp types of an object according to the visual information. Current state-of-the-art methods ignore category information of objects which is crucial for grasp pattern…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects…
Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…
Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…
Grasping has been a crucial but challenging problem in robotics for many years. One of the most important challenges is how to make grasping generalizable and robust to novel objects as well as grippers in unstructured environments. We…
Convolutional Neural Networks (CNNs) have achieved outstanding performance on image processing challenges. Actually, CNNs imitate the typically developed human brain structures at the micro-level (Artificial neurons). At the same time, they…
Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…
Grasping objects in cluttered scenarios is a challenging task in robotics. Performing pre-grasp actions such as pushing and shifting to scatter objects is a way to reduce clutter. Based on deep reinforcement learning, we propose a…
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…
In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the…
We proposed an end-to-end grasp detection network, Grasp Detection Network (GDN), cooperated with a novel coarse-to-fine (C2F) grasp representation design to detect diverse and accurate 6-DoF grasps based on point clouds. Compared to…
Real-world robotic systems frequently require diverse end-effectors for different tasks, however most existing grasp detection methods are optimized for a single gripper type, demanding retraining or optimization for each novel gripper…
Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…
In this work, we introduce a novel, end-to-end trainable CNN-based architecture to deliver high quality results for grasp detection suitable for a parallel-plate gripper, and semantic segmentation. Utilizing this, we propose a novel…
We propose the Neurally-Guided Shape Parser (NGSP), a method that learns how to assign fine-grained semantic labels to regions of a 3D shape. NGSP solves this problem via MAP inference, modeling the posterior probability of a label…
Data-driven approach for grasping shows significant advance recently. But these approaches usually require much training data. To increase the efficiency of grasping data collection, this paper presents a novel grasp training system…
Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…
Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled…