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

Large sky spectroscopic surveys have reached the scale of photometric surveys in terms of sample sizes and data complexity. These huge datasets require efficient, accurate, and flexible automated tools for data analysis and science…

Belief space planning is a viable alternative to formalise partially observable control problems and, in the recent years, its application to robot manipulation problems has grown. However, this planning approach was tried successfully only…

In this paper we study grasp problem in dense cluster, a challenging task in warehouse logistics scenario. By introducing a two-step robust suction affordance detection method, we focus on using vacuum suction pad to clear up a box filled…

Real-world robotic systems frequently require diverse end-effectors for different tasks, however most existing grasp detection methods are optimized for a single gripper type, demanding retraining or optimization for each novel gripper…

Dexterous grasping is fundamental to robotics, yet data-driven grasp prediction heavily relies on large, diverse datasets that are costly to generate and typically limited to a narrow set of gripper morphologies. Analytical grasp synthesis…

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…

Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…

Robotic grasping is a fundamental skill required for object manipulation in robotics. Multi-fingered robotic hands, which mimic the structure of the human hand, can potentially perform complex object manipulation. Nevertheless, current…

As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…

Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…

Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates…

Robotic grasping from single-view observations remains a critical challenge in manipulation. However, existing methods still struggle to generate reliable grasp candidates and stably evaluate grasp feasibility under incomplete geometric…

We proposed an end-to-end grasp detection network, Grasp Detection Network (GDN), cooperated with a novel coarse-to-fine (C2F) grasp representation design to detect diverse and accurate 6-DoF grasps based on point clouds. Compared to…

Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is…

This work addresses the problem of learning approach-constrained data-driven grasp samplers. To this end, we propose GoNet: a generative grasp sampler that can constrain the grasp approach direction to a subset of SO(3). The key insight is…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

Dexterous robotic hands enable versatile interactions due to the flexibility and adaptability of multi-fingered designs, allowing for a wide range of task-specific grasp configurations in diverse environments. However, to fully exploit the…

Shape deviation modeling and compensation in additive manufacturing are pivotal for achieving high geometric accuracy and enabling industrial-scale production. Critical challenges persist, including generalizability across complex…

Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…