Related papers: NeuGrasp: Generalizable Neural Surface Reconstruct…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
Deep learning has significantly advanced computer vision and natural language processing. While there have been some successes in robotics using deep learning, it has not been widely adopted. In this paper, we present a novel robotic grasp…
In computer graphics and vision, recovering easily modifiable scene appearance from image data is crucial for applications such as content creation. We introduce a novel method that integrates 3D Gaussian Splatting with an implicit surface…
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,…
Robotic grasping faces challenges in adapting to objects with varying shapes and sizes. In this paper, we introduce MISCGrasp, a volumetric grasping method that integrates multi-scale feature extraction with contrastive feature enhancement…
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…
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…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…
Reconstructing general dynamic scenes is important for many computer vision and graphics applications. Recent works represent the dynamic scene with neural radiance fields for photorealistic view synthesis, while their surface geometry is…
We address the problem of robotic grasping of known and unknown objects using implicit behavior cloning. We train a grasp evaluation model from a small number of demonstrations that outputs higher values for grasp candidates that are more…
We introduce SparseNeuS, a novel neural rendering based method for the task of surface reconstruction from multi-view images. This task becomes more difficult when only sparse images are provided as input, a scenario where existing neural…
We present a novel neural surface reconstruction method called NeuralRoom for reconstructing room-sized indoor scenes directly from a set of 2D images. Recently, implicit neural representations have become a promising way to reconstruct…
Recently, methods for neural surface representation and rendering, for example NeuS, have shown that learning neural implicit surfaces through volume rendering is becoming increasingly popular and making good progress. However, these…
We present a novel multi-view implicit surface reconstruction technique, termed StreetSurf, that is readily applicable to street view images in widely-used autonomous driving datasets, such as Waymo-perception sequences, without necessarily…
Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods primarily suffer from two issues. First, most prior arts focus on a specific type of robot hand, lacking the…
We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…
Inferring the affordance of an object and grasping it in a task-oriented manner is crucial for robots to successfully complete manipulation tasks. Affordance indicates where and how to grasp an object by taking its functionality into…
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…
Robotic grasping is a fundamental aspect of robot functionality, defining how robots interact with objects. Despite substantial progress, its generalizability to counter-intuitive or long-tailed scenarios, such as objects with uncommon…
Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…