Related papers: Label-Efficient Grasp Joint Prediction with Point-…

Learning Based Robot Grasping currently involves the use of labeled data. This approach has two major disadvantages. Firstly, labeling data for grasp points and angles is a strenuous process, so the dataset remains limited. Secondly, human…

Learning-based approaches to grasp planning are preferred over analytical methods due to their ability to better generalize to new, partially observed objects. However, data collection remains one of the biggest bottlenecks for grasp…

Pre-training by numerous image data has become de-facto for robust 2D representations. In contrast, due to the expensive data acquisition and annotation, a paucity of large-scale 3D datasets severely hinders the learning for high-quality 3D…

While grasp detection is an important part of any robotic manipulation pipeline, reliable and accurate grasp detection in $SE(3)$ remains a research challenge. Many robotics applications in unstructured environments such as the home or…

Existing methods for self-supervised representation learning of geospatial regions and map entities rely extensively on the design of pretext tasks, often involving augmentations or heuristic sampling of positive and negative pairs based on…

Hand gesture classification using high-quality structured data such as videos, images, and hand skeletons is a well-explored problem in computer vision. Leveraging low-power, cost-effective biosignals, e.g. surface electromyography (sEMG),…

This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…

Meta-training, which fine-tunes the language model (LM) on various downstream tasks by maximizing the likelihood of the target label given the task instruction and input instance, has improved the zero-shot task generalization performance.…

GBPP is a fast learning based scorer that selects a robot base pose for grasping from a single RGB-D snapshot. The method uses a two stage curriculum: (1) a simple distance-visibility rule auto-labels a large dataset at low cost; and (2) a…

Robotic manipulation of unseen objects via natural language commands remains challenging. Language driven robotic grasping (LDRG) predicts stable grasp poses from natural language queries and RGB-D images. We propose MapleGrasp, a novel…

Collecting and labeling the registered 3D point cloud is costly. As a result, 3D resources for training are typically limited in quantity compared to the 2D images counterpart. In this work, we deal with the data scarcity challenge of 3D…

Joint-Embedding Predictive Architecture (JEPA) is increasingly used for visual representation learning and as a component in model-based RL, but its behavior remains poorly understood. We provide a theoretical characterization of a simple,…

Pre-training is a dominant paradigm in computer vision. For example, supervised ImageNet pre-training is commonly used to initialize the backbones of object detection and segmentation models. He et al., however, show a surprising result…

Point cloud segmentation is a fundamental task in 3D vision that serves a wide range of applications. Although great progresses have been made these years, its practical usability is still limited by the availability of training data.…

Developing autonomous assistants to help with domestic tasks is a vital topic in robotics research. Among these tasks, garment folding is one of them that is still far from being achieved mainly due to the large number of possible…

Aerodynamic surrogate models are increasingly used to replace repeated high-fidelity CFD evaluations in many-query design settings, but current approaches still face two important limitations: they often scale poorly to the very large…

Masked signal modeling has greatly advanced self-supervised pre-training for language and 2D images. However, it is still not fully explored in 3D scene understanding. Thus, this paper introduces Masked Shape Prediction (MSP), a new…

With the overwhelming trend of mask image modeling led by MAE, generative pre-training has shown a remarkable potential to boost the performance of fundamental models in 2D vision. However, in 3D vision, the over-reliance on…

Limb deficiency severely affects the daily lives of amputees and drives efforts to provide functional robotic prosthetic hands to compensate this deprivation. Convolutional neural network-based computer vision control of the prosthetic hand…

We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a voxel-based 3D convolutional neural network to predict grasp success probability as a function of both visual information…