相关论文: Deep Learning a Grasp Function for Grasping under …

Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…

Transparent objects are a common part of everyday life, yet they possess unique visual properties that make them incredibly difficult for standard 3D sensors to produce accurate depth estimates for. In many cases, they often appear as noisy…

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…

We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…

For in-hand manipulation, estimation of the object pose inside the hand is one of the important functions to manipulate objects to the target pose. Since in-hand manipulation tends to cause occlusions by the hand or the object itself, image…

Multi-person pose estimation and tracking serve as crucial steps for video understanding. Most state-of-the-art approaches rely on first estimating poses in each frame and only then implementing data association and refinement. Despite the…

Human pose analysis has garnered significant attention within both the research community and practical applications, owing to its expanding array of uses, including gaming, video surveillance, sports performance analysis, and…

Semantic patterns of fine-grained objects are determined by subtle appearance difference of local parts, which thus inspires a number of part-based methods. However, due to uncontrollable object poses in images, distinctive details carried…

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…

In this work, we present a geometry-based grasping algorithm that is capable of efficiently generating both top and side grasps for unknown objects, using a single view RGB-D camera, and of selecting the most promising one. We demonstrate…

Contemporary grasp detection approaches employ deep learning to achieve robustness to sensor and object model uncertainty. The two dominant approaches design either grasp-quality scoring or anchor-based grasp recognition networks. This…

Efficient and robust grasp pose detection is vital for robotic manipulation. For general 6 DoF grasping, conventional methods treat all points in a scene equally and usually adopt uniform sampling to select grasp candidates. However, we…

The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomously identify grasping locations by using information from…

This article presents a method for grasping novel objects by learning from experience. Successful attempts are remembered and then used to guide future grasps such that more reliable grasping is achieved over time. To generalise the learned…

We introduce CUPS, a novel method for learning sequence-to-sequence 3D human shapes and poses from RGB videos with uncertainty quantification. To improve on top of prior work, we develop a method to generate and score multiple hypotheses…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

We propose an approach to estimating the 3D pose of a hand, possibly handling an object, given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by…

This paper proposes a DNN-based system that detects multiple people from a single depth image. Our neural network processes a depth image and outputs a likelihood map in image coordinates, where each detection corresponds to a…

Deep learning is an established framework for learning hierarchical data representations. While compute power is in abundance, one of the main challenges in applying this framework to robotic grasping has been obtaining the amount of data…

Humans can determine a proper strategy to grasp an object according to the measured physical attributes or the prior knowledge of the object. This paper proposes an approach to determining the strategy of dexterous grasping by using an…