Related papers: Multimodal Adversarial Quality Policy for Safe Gra…

Vision-guided robot grasping methods based on Deep Neural Networks (DNNs) have achieved remarkable success in handling unknown objects, attributable to their powerful generalizability. However, these methods with this generalizability tend…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

Multimodal machine learning has achieved remarkable progress in many scenarios, but its reliability is undermined by varying sample quality. This paper finds that existing reliable multimodal classification methods not only fail to provide…

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However,…

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…

As Deep Neural Network (DNN) inference becomes increasingly prevalent on edge and mobile platforms, critical challenges emerge in privacy protection, resource constraints, and dynamic model deployment. This paper proposes a privacy-aware…

Single-view RGB-D grasp detection remains a common choice in 6-DoF robotic grasping systems, which typically requires a depth sensor. While RGB-only 6-DoF grasp methods has been studied recently, their inaccurate geometric representation is…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

Quality-Diversity (QD) methods are algorithms that aim to generate a set of diverse and high-performing solutions to a given problem. Originally developed for evolutionary robotics, most QD studies are conducted on a limited set of domains…

Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into…

Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…

We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

Aiming at the traditional grasping method for manipulators based on 2D camera, when faced with the scene of gathering or covering, it can hardly perform well in unstructured scenes that appear as gathering and covering, for the reason that…

Multi-agent navigation in unknown and cluttered environments has broad applications, yet remains fundamentally challenging. In particular, dense agent-agent and agent-obstacle reactive interactions can exacerbate the inherent competition…

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…

Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose the Adaptive Dynamic Modality Diffusion…

Routing in multi-hop wireless networks is a complex problem, especially in heterogeneous networks where multiple wireless communication technologies coexist. Reinforcement learning (RL) methods, such as Q-learning, have been introduced for…

Deep Neural Networks (DNNs) are known to be vulnerable to various adversarial perturbations. To address the safety concerns arising from these vulnerabilities, adversarial training (AT) has emerged as one of the most effective paradigms for…

Numerous studies have demonstrated the susceptibility of deep neural networks (DNNs) to subtle adversarial perturbations, prompting the development of many advanced adversarial defense methods aimed at mitigating adversarial attacks.…