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

Deep neural networks have achieved impressive performance in many applications but their large number of parameters lead to significant computational and storage overheads. Several recent works attempt to mitigate these overheads by…

Robotic grasping is a fundamental yet crucial component of robotic applications, as effective grasping often serves as the starting point for various tasks. With the rapid advancement of neural networks, data-driven approaches for robotic…

Recent 3D-based manipulation methods either directly predict the grasp pose using 3D neural networks, or solve the grasp pose using similar objects retrieved from shape databases. However, the former faces generalizability challenges when…

Learning the skill of human bimanual grasping can extend the capabilities of robotic systems when grasping large or heavy objects. However, it requires a much larger search space for grasp points than single-hand grasping and numerous…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

This paper focuses on robotic picking tasks in cluttered scenario. Because of the diversity of poses, types of stack and complicated background in bin picking situation, it is much difficult to recognize and estimate their pose before…

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…

Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…

Grasping objects intelligently is a challenging task even for humans and we spend a considerable amount of time during our childhood to learn how to grasp objects correctly. In the case of robots, we can not afford to spend that much time…

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…

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…

Neural Networks (NN), although successfully applied to several Artificial Intelligence tasks, are often unnecessarily over-parametrised. In edge/fog computing, this might make their training prohibitive on resource-constrained devices,…

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However,…

Recent consumer demand for home robots has accelerated performance of robotic grasping. However, a key component of the perception pipeline, the depth camera, is still expensive and inaccessible to most consumers. In addition, grasp…

Deep Learning models have become the dominant approach in several areas due to their high performance. Unfortunately, the size and hence computational requirements of operating such models can be considerably high. Therefore, this…

Object grasping is a fundamental challenge in robotics and computer vision, critical for advancing robotic manipulation capabilities. Deformable objects, like fabrics and cloths, pose additional challenges due to their non-rigid nature. In…

The recent ground-breaking advances in deep learning networks ( DNNs ) make them attractive for embedded systems. However, it can take a long time for DNNs to make an inference on resource-limited embedded devices. Offloading the…

Grasp is an essential skill for robots to interact with humans and the environment. In this paper, we build a vision-based, robust and real-time robotic grasp approach with fully convolutional neural network. The main component of our…

Generative models generate vast numbers of hypothetical materials, necessitating fast, accurate models for property prediction. Graph Neural Networks (GNNs) excel in this domain but face challenges like high training costs, domain…

Efficient CNN designs like ResNets and DenseNet were proposed to improve accuracy vs efficiency trade-offs. They essentially increased the connectivity, allowing efficient information flow across layers. Inspired by these techniques, we…