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

Human comprehension of a video stream is naturally broad: in a few instants, we are able to understand what is happening, the relevance and relationship of objects, and forecast what will follow in the near future, everything all at once.…

Deep learning has significantly advanced computer vision and natural language processing. While there have been some successes in robotics using deep learning, it has not been widely adopted. In this paper, we present a novel robotic grasp…

Grasping moving objects, such as goods on a belt or living animals, is an important but challenging task in robotics. Conventional approaches rely on a set of manually defined object motion patterns for training, resulting in poor…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

Humans learn to recognize and manipulate new objects in lifelong settings without forgetting the previously gained knowledge under non-stationary and sequential conditions. In autonomous systems, the agents also need to mitigate similar…

Many of the existing methods for learning joint embedding of images and text use only supervised information from paired images and its textual attributes. Taking advantage of the recent success of unsupervised learning in deep neural…

Devising intelligent agents able to live in an environment and learn by observing the surroundings is a longstanding goal of Artificial Intelligence. From a bare Machine Learning perspective, challenges arise when the agent is prevented…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream. We propose a deep dynamic neural network…

Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

End-to-end control for robot manipulation and grasping is emerging as an attractive alternative to traditional pipelined approaches. However, end-to-end methods tend to either be slow to train, exhibit little or no generalisability, or lack…

Real-world grasp detection is challenging due to the stochasticity in grasp dynamics and the noise in hardware. Ideally, the system would adapt to the real world by training directly on physical systems. However, this is generally difficult…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spatial relationships between objects. Vision-Language Models…