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K-Nearest Neighbor (kNN)-based deep learning methods have been applied to many applications due to their simplicity and geometric interpretability. However, the robustness of kNN-based classification models has not been thoroughly explored…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Face recognition (FR) systems powered by deep learning have become widely used in various applications. However, they are vulnerable to adversarial attacks, especially those based on local adversarial patches that can be physically applied…

Learning to generate dual-hand grasps that respect object semantics is essential for robust hand-object interaction but remains largely underexplored due to dataset scarcity. Existing grasp datasets predominantly focus on single-hand…

Despite the advantages of discriminative prototype-based methods, their role in adversarial robustness remains underexplored. Meanwhile, current adversarial training methods predominantly focus on robustness against adversarial attacks…

Quality Diversity (QD) has shown great success in discovering high-performing, diverse policies for robot skill learning. While current benchmarks have led to the development of powerful QD methods, we argue that new paradigms must be…

This paper addresses the tradeoff between standard accuracy on clean examples and robustness against adversarial examples in deep neural networks (DNNs). Although adversarial training (AT) improves robustness, it degrades the standard…

The paucity of large curated hand-labeled training data forms a major bottleneck in the deployment of machine learning models in computer vision and other fields. Recent work (Data Programming) has shown how distant supervision signals in…

Reinforcement learning algorithms rely on exploration to discover new behaviors, which is typically achieved by following a stochastic policy. In continuous control tasks, policies with a Gaussian distribution have been widely adopted.…

Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

Deep neural networks (DNNs) are vulnerable to adversarial noise. A range of adversarial defense techniques have been proposed to mitigate the interference of adversarial noise, among which the input pre-processing methods are scalable and…

Accurate Quality of Service (QoS) prediction is fundamental to service computing, providing essential data-driven guidance for service selection and ensuring superior user experiences. However, prevalent approaches, particularly Graph…

Dexterous robotic hands often struggle to generalize effectively in complex environments due to the limitations of models trained on low-diversity data. However, the real world presents an inherently unbounded range of scenarios, making it…

Following the recent adoption of deep neural networks (DNN) accross a wide range of applications, adversarial attacks against these models have proven to be an indisputable threat. Adversarial samples are crafted with a deliberate intention…

The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…

Quantized Neural Networks (QNNs) have emerged as a promising solution for reducing model size and computational costs, making them well-suited for deployment in edge and resource-constrained environments. While quantization is known to…

This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The proposed approach provides direct information about what the…