Related papers: Center Direction Network for Grasping Point Locali…

Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Dexterous grasping in multi-object scene constitutes a fundamental challenge in robotic manipulation. Current mainstream grasping datasets predominantly focus on single-object scenarios and predefined grasp configurations, often neglecting…

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…

In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed trajectory (including speed and acceleration) has a decisive…

Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for…

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…

In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared to recent grasp evaluation metrics that are based on…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…

We present Supermarket-6DoF, a real-world dataset of 1500 grasp attempts across 20 supermarket objects with publicly available 3D models. Unlike most existing grasping datasets that rely on analytical metrics or simulation for grasp…

A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…

We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-backward automatic differentiation approach, including the…

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…

There has been increasing interest in smart factories powered by robotics systems to tackle repetitive, laborious tasks. One impactful yet challenging task in robotics-powered smart factory applications is robotic grasping: using robotic…

Coordinating the motion of robots with high degrees of freedom (DoF) to grasp objects gives rise to many challenges. In this paper, we propose a novel imitation learning approach to learn a policy that directly predicts 23 DoF grasp…

A fundamental challenge in manipulating fabric for clothes folding and textiles manufacturing is computing "pick points" to effectively modify the state of an uncertain manifold. We present a supervised deep transfer learning approach to…

We present the Grasp Proposal Network (GP-net), a Convolutional Neural Network model which can generate 6-DoF grasps from flexible viewpoints, e.g. as experienced by mobile manipulators. To train GP-net, we synthetically generate a dataset…

Robotic grasp detection for novel objects is a challenging task, but for the last few years, deep learning based approaches have achieved remarkable performance improvements, up to 96.1% accuracy, with RGB-D data. In this paper, we propose…