相关论文: Using Simulation and Domain Adaptation to Improve …

Despite great success in human parsing, progress for parsing other deformable articulated objects, like animals, is still limited by the lack of labeled data. In this paper, we use synthetic images and ground truth generated from CAD animal…

In many manufacturing settings, annotating data for machine learning and computer vision is costly, but synthetic data can be generated at significantly lower cost. Substituting the real-world data with synthetic data is therefore appealing…

Synthetic data is being used lately for training deep neural networks in computer vision applications such as object detection, object segmentation and 6D object pose estimation. Domain randomization hereby plays an important role in…

This paper focuses on the sim-to-real issue of RGB-D grasp detection and formulates it as a domain adaptation problem. In this case, we present a global-to-local method to address hybrid domain gaps in RGB and depth data and insufficient…

Deep learning methods typically require vast amounts of training data to reach their full potential. While some publicly available datasets exists, domain specific data always needs to be collected and manually labeled, an expensive, time…

Accurate lane detection, a crucial enabler for autonomous driving, currently relies on obtaining a large and diverse labeled training dataset. In this work, we explore learning from abundant, randomly generated synthetic data, together with…

This paper introduces Action Image, a new grasp proposal representation that allows learning an end-to-end deep-grasping policy. Our model achieves $84\%$ grasp success on $172$ real world objects while being trained only in simulation on…

Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience,…

Collecting and automatically obtaining reward signals from real robotic visual data for the purposes of training reinforcement learning algorithms can be quite challenging and time-consuming. Methods for utilizing unlabeled data can have a…

Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…

Synthetic images rendered from 3D CAD models are useful for augmenting training data for object recognition algorithms. However, the generated images are non-photorealistic and do not match real image statistics. This leads to a large…

Machine learning has the potential to improve the speed and reliability of radioisotope identification using gamma spectroscopy. However, meticulously labeling an experimental dataset for training is often prohibitively expensive, while…

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 neural networks have largely failed to effectively utilize synthetic data when applied to real images due to the covariate shift problem. In this paper, we show that by applying a straightforward modification to an existing…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Grasping in cluttered scenes remains highly challenging for dexterous hands due to the scarcity of data. To address this problem, we present a large-scale synthetic benchmark, encompassing 1319 objects, 8270 scenes, and 427 million grasps.…

Generalising robotic grasping to previously unseen objects is a key task in general robotic manipulation. The current method for training many antipodal generative grasping models rely on a binary ground truth grasp map generated from the…

Acquiring labeled 6D poses from real images is an expensive and time-consuming task. Though massive amounts of synthetic RGB images are easy to obtain, the models trained on them suffer from noticeable performance degradation due to the…