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We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…

The prevalence and success of Deep Neural Network (DNN) applications in recent years have motivated research on DNN compression, such as pruning and quantization. These techniques accelerate model inference, reduce power consumption, and…

Deep reinforcement learning (DRL) has emerged as a promising approach for robotic control, but its realworld deployment remains challenging due to its vulnerability to environmental perturbations. Existing white-box adversarial attack…

We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-backward automatic differentiation approach, including the…

In multi-robot collaborative area search, a key challenge is to dynamically balance the two objectives of exploring unknown areas and covering specific targets to be rescued. Existing methods are often constrained by homogeneous graph…

Deep neural networks (DNNs) have been applied in many computer vision tasks and achieved state-of-the-art (SOTA) performance. However, misclassification will occur when DNNs predict adversarial examples which are created by adding…

Robotic arm grasping is a fundamental operation in robotic control task goals. Most current methods for robotic grasping focus on RGB-D policy in the table surface scenario or 3D point cloud analysis and inference in the 3D space. Comparing…

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…

Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…

Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…

Quadrupedal robots with manipulators offer strong mobility and adaptability for grasping in unstructured, dynamic environments through coordinated whole-body control. However, existing research has predominantly focused on static-object…

Maze navigation is a fundamental challenge in robotics, requiring agents to traverse complex environments efficiently. While the Deep Deterministic Policy Gradient (DDPG) algorithm excels in control tasks, its performance in maze navigation…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Robotic arms are widely used in automatic industries. However, with wide applications of deep learning in robotic arms, there are new challenges such as the allocation of grasping computing power and the growing demand for security. In this…

Deep Neural Networks (DNNs) are vulnerable to adversarial attacks, posing significant security threats to their deployment in remote sensing applications. Research on adversarial attacks not only reveals model vulnerabilities but also…

Recent advances in AI have led to significant results in robotic learning, including natural language-conditioned planning and efficient optimization of controllers using generative models. However, the interaction data remains the…

Adversarial machine learning has been both a major concern and a hot topic recently, especially with the ubiquitous use of deep neural networks in the current landscape. Adversarial attacks and defenses are usually likened to a…

Data-driven approach for grasping shows significant advance recently. But these approaches usually require much training data. To increase the efficiency of grasping data collection, this paper presents a novel grasp training system…