相关论文: Dex-Net 2.0: Deep Learning to Plan Robust Grasps w…

Learning Based Robot Grasping currently involves the use of labeled data. This approach has two major disadvantages. Firstly, labeling data for grasp points and angles is a strenuous process, so the dataset remains limited. Secondly, human…

Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…

We introduce PhysXNet, a learning-based approach to predict the dynamics of deformable clothes given 3D skeleton motion sequences of humans wearing these clothes. The proposed model is adaptable to a large variety of garments and changing…

Generating stable and robust grasps on arbitrary objects is critical for dexterous robotic hands, marking a significant step towards advanced dexterous manipulation. Previous studies have mostly focused on improving differentiable grasping…

Training high-quality deep models necessitates vast amounts of data, resulting in overwhelming computational and memory demands. Recently, data pruning, distillation, and coreset selection have been developed to streamline data volume by…

Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…

Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…

Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…

Grasping skill is a major ability that a wide number of real-life applications require for robotisation. State-of-the-art robotic grasping methods perform prediction of object grasp locations based on deep neural networks. However, such…

This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset…

Current learning-based robot grasping approaches exploit human-labeled datasets for training the models. However, there are two problems with such a methodology: (a) since each object can be grasped in multiple ways, manually labeling grasp…

Deep graph neural networks (GNNs) have achieved excellent results on various tasks on increasingly large graph datasets with millions of nodes and edges. However, memory complexity has become a major obstacle when training deep GNNs for…

Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…

We introduce a Cable Grasping-Convolutional Neural Network designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable…

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…

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…

Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…

This work provides an architecture that incorporates depth and tactile information to create rich and accurate 3D models useful for robotic manipulation tasks. This is accomplished through the use of a 3D convolutional neural network (CNN).…

We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a convolutional neural network to predict grasp success as a function of both visual information of an object and grasp…

To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…