Related papers: Multimodal Adversarial Quality Policy for Safe Gra…

Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered environments. Grasp prediction errors and object pose changes…

Multimodal deep learning systems are deployed in dynamic scenarios due to the robustness afforded by multiple sensing modalities. Nevertheless, they struggle with varying compute resource availability (due to multi-tenancy, device…

We present a new algorithm to learn a deep neural network model robust against adversarial attacks. Previous algorithms demonstrate an adversarially trained Bayesian Neural Network (BNN) provides improved robustness. We recognize the…

We address the problem of directional semantic grasping, that is, grasping a specific object from a specific direction. We approach the problem using deep reinforcement learning via a double deep Q-network (DDQN) that learns to map…

Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing approaches largely rely on human teleoperation with wearable…

It has been shown that deep neural networks (DNNs) may be vulnerable to adversarial attacks, raising the concern on their robustness particularly for safety-critical applications. Recognizing the local nature and limitations of existing…

In this work, we propose a hybrid hierarchical control framework for reactive dexterous grasping that explicitly decouples high-level spatial intent from low-level joint execution. We introduce a multi-agent reinforcement learning…

Manufacturing requires reliable object detection methods for precise picking and handling of diverse types of manufacturing parts and components. Traditional object detection methods utilize either only 2D images from cameras or 3D data…

Recent accelerated MRI reconstruction models have used Deep Neural Networks (DNNs) to reconstruct relatively high-quality images from highly undersampled k-space data, enabling much faster MRI scanning. However, these techniques sometimes…

Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…

Distributed full-graph training of Graph Neural Networks (GNNs) over large graphs is bandwidth-demanding and time-consuming. Frequent exchanges of node features, embeddings and embedding gradients (all referred to as messages) across…

Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…

Deep neural networks have been shown to be vulnerable to adversarial examples---maliciously crafted examples that can trigger the target model to misbehave by adding imperceptible perturbations. Existing attack methods for k-nearest…

Handover optimization in O-RAN faces growing challenges due to heterogeneous user mobility patterns and rapidly varying radio conditions. Existing ML-based handover schemes typically operate at the near-RT layer, which lack awareness of the…

This paper introduces a framework to plan grasps with multi-fingered hands. The framework includes a multi-dimensional iterative surface fitting (MDISF) for grasp planning and a grasp trajectory optimization (GTO) for grasp imagination. The…

Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…

Deep reinforcement learning (DRL) has shown great promise in addressing multi-objective combinatorial optimization problems (MOCOPs). Nevertheless, the robustness of these learning-based solvers has remained insufficiently explored,…

Multi-fingered robotic hands have potential to enable robots to perform sophisticated manipulation tasks. However, teaching a robot to grasp objects with an anthropomorphic hand is an arduous problem due to the high dimensionality of state…

We address the challenge of multi-robot autonomous hazard mapping in high-risk, failure-prone, communication-denied environments such as post-disaster zones, underground mines, caves, and planetary surfaces. In these missions, robots must…

Hypergraph Neural Networks (HGNNs) have been successfully applied in various hypergraph-related tasks due to their excellent higher-order representation capabilities. Recent works have shown that deep learning models are vulnerable to…