Related papers: VMGNet: A Low Computational Complexity Robotic Gra…
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…
General robot grasping in clutter requires the ability to synthesize grasps that work for previously unseen objects and that are also robust to physical interactions, such as collisions with other objects in the scene. In this work, we…
Deep Learning models have become the dominant approach in several areas due to their high performance. Unfortunately, the size and hence computational requirements of operating such models can be considerably high. Therefore, this…
Point clouds can be represented in many forms (views), typically, point-based sets, voxel-based cells or range-based images(i.e., panoramic view). The point-based view is geometrically accurate, but it is disordered, which makes it…
Understanding dynamic 4D environments-3D space evolving over time-is critical for robotic and interactive systems. These applications demand systems that can process streaming point cloud video in real-time, often under resource…
In the realm of 3D-computer vision applications, point cloud few-shot learning plays a critical role. However, it poses an arduous challenge due to the sparsity, irregularity, and unordered nature of the data. Current methods rely on…
Local high strain in solid rocket motor grains is a primary cause of structural failure. However, traditional numerical simulations are computationally expensive, and existing surrogate models cannot explicitly establish geometric models…
LiDAR semantic segmentation essential for advanced autonomous driving is required to be accurate, fast, and easy-deployed on mobile platforms. Previous point-based or sparse voxel-based methods are far away from real-time applications since…
Mainstream approaches to spectral reconstruction (SR) primarily focus on designing Convolution- and Transformer-based architectures. However, CNN methods often face challenges in handling long-range dependencies, whereas Transformers are…
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…
In this paper, we propose MGNet, a simple and effective multiplex graph convolutional network (GCN) model for multimodal brain network analysis. The proposed method integrates tensor representation into the multiplex GCN model to extract…
Medical image segmentation grapples with challenges including multi-scale lesion variability, ill-defined tissue boundaries, and computationally intensive processing demands. This paper proposes the DyGLNet, which achieves efficient and…
Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific…
Recent advances in Vision Transformers (ViTs) and State Space Models (SSMs) have challenged the dominance of Convolutional Neural Networks (CNNs) in computer vision. ViTs excel at capturing global context, and SSMs like Mamba offer linear…
Multimodal semantic segmentation has emerged as a powerful paradigm for enhancing scene understanding by leveraging complementary information from multiple sensing modalities (e.g., RGB, depth, and thermal). However, existing cross-modal…
Image registration, a critical process in medical imaging, involves aligning different sets of medical imaging data into a single unified coordinate system. Deep learning networks, such as the Convolutional Neural Network (CNN)-based…
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…
In recent years, Graph Neural Networks (GNNs) have demonstrated strong adaptability to various real-world challenges, with architectures such as Vision GNN (ViG) achieving state-of-the-art performance in several computer vision tasks.…
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…
Large Vision Models trained on internet-scale data have demonstrated strong capabilities in segmenting and semantically understanding object parts, even in cluttered, crowded scenes. However, while these models can direct a robot toward the…