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This paper presents Densely Supervised Grasp Detector (DSGD), a deep learning framework which combines CNN structures with layer-wise feature fusion and produces grasps and their confidence scores at different levels of the image hierarchy…
For 6-DoF grasp detection, simulated data is expandable to train more powerful model, but it faces the challenge of the large gap between simulation and real world. Previous works bridge this gap with a sim-to-real way. However, this way…
With the increasing deployment of facial image data across a wide range of applications, efficient compression tailored to facial semantics has become critical for both storage and transmission. While recent learning-based face image…
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both in generalizing to novel object…
Grasp planning and estimation have been a longstanding research problem in robotics, with two main approaches to find graspable poses on the objects: 1) geometric approach, which relies on 3D models of objects and the gripper to estimate…
Simulation is critical for safety evaluation in autonomous driving, particularly in capturing complex interactive behaviors. However, generating realistic and controllable traffic scenarios in long-tail situations remains a significant…
It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…
Generative diffusion priors have recently achieved state-of-the-art performance in natural image super-resolution, demonstrating a powerful capability to synthesize photorealistic details. However, their direct application to remote sensing…
Redundant manipulators, with their higher Degrees of Freedom (DoFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However,…
Analytical diffusion models offer a mathematically transparent path to generative modeling by formulating the denoising score as an empirical-Bayes posterior mean. However, this interpretability comes at a prohibitive cost: the standard…
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…
Dexterous grasping in cluttered scenes presents significant challenges due to diverse object geometries, occlusions, and potential collisions. Existing methods primarily focus on single-object grasping or grasp-pose prediction without…
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…
Diffusion-based generative models are extremely effective in generating high-quality images, with generated samples often surpassing the quality of those produced by other models under several metrics. One distinguishing feature of these…
In this work, we present GraspFlow, a refinement approach for generating context-specific grasps. We formulate the problem of grasp synthesis as a sampling problem: we seek to sample from a context-conditioned probability distribution of…
We propose the task of Hand-Object Stable Grasp Reconstruction (HO-SGR), the reconstruction of frames during which the hand is stably holding the object. We first develop the stable grasp definition based on the intuition that the…
The diffusion-based text-to-image model harbors immense potential in transferring reference style. However, current encoder-based approaches significantly impair the text controllability of text-to-image models while transferring styles. In…
Diffusion models have achieved unprecedented performance in image generation, yet they suffer from slow inference due to their iterative sampling process. To address this, early-exiting has recently been proposed, where the depth of the…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…