相关论文: Grasp Learning by Sampling from Demonstration

We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…

End-to-end self-supervised models have been proposed for estimating the success of future candidate grasps and video predictive models for generating future observations. However, none have yet studied these two strategies side-by-side for…

This paper proposes a new approach to detecting grasp points on novel objects presented in clutter. The input to our algorithm is a point cloud and the geometric parameters of the robot hand. The output is a set of hand configurations that…

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping…

The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…

Robots acting in open environments need to be able to handle novel objects. Based on the observation that objects within a category are often similar in their shapes and usage, we propose an approach for transferring grasping skills from…

Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…

This work presents an approach for modelling and tracking previously unseen objects for robotic grasping tasks. Using the motion of objects in a scene, our approach segments rigid entities from the scene and continuously tracks them to…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

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…

In this paper, we present a novel method for self-supervised fine-tuning of pose estimation. Leveraging zero-shot pose estimation, our approach enables the robot to automatically obtain training data without manual labeling. After pose…

Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…