相关论文: End-to-End Learning of Semantic Grasping

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…

A novel framework is proposed to incrementally collect landmark-based graph memory and use the collected memory for image goal navigation. Given a target image to search, an embodied robot utilizes semantic memory to find the target in an…

End-to-end multimodal learning on knowledge graphs has been left largely unaddressed. Instead, most end-to-end models such as message passing networks learn solely from the relational information encoded in graphs' structure: raw values, or…

Graph-based semi-supervised learning has been shown to be one of the most effective approaches for classification tasks from a wide range of domains, such as image classification and text classification, as they can exploit the connectivity…

Present image based visual servoing approaches rely on extracting hand crafted visual features from an image. Choosing the right set of features is important as it directly affects the performance of any approach. Motivated by recent…

Sensing surroundings plays a crucial role in human spatial perception, as it extracts the spatial configuration of objects as well as the free space from the observations. To facilitate the robot perception with such a surrounding sensing…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…

Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

How can we segment varying numbers of objects where each specific object represents its own separate class? To make the problem even more realistic, how can we add and delete classes on the fly without retraining or fine-tuning? This is the…

In a real-world setting, visual recognition systems can be brought to make predictions for images belonging to previously unknown class labels. In order to make semantically meaningful predictions for such inputs, we propose a two-step…

We propose a novel framework for decision-making in cooperative grasping for two-robot object transport in constrained environments. The core of the framework is a Conditional Embedding (CE) model consisting of two neural networks that map…

This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment…

To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…

We address the problem of inferring self-supervised dense semantic correspondences between objects in multi-object scenes. The method introduces learning of class-aware dense object descriptors by providing either unsupervised discrete…

Focusing on the task of point-to-point navigation for an autonomous driving vehicle, we propose a novel deep learning model trained with end-to-end and multi-task learning manners to perform both perception and control tasks simultaneously.…

Reliable object grasping is a crucial capability for autonomous robots. However, many existing grasping approaches focus on general clutter removal without explicitly modeling objects and thus only relying on the visible local geometry. We…

An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…