相关论文: Closing the Loop for Robotic Grasping: A Real-time…

Vision-based grasping of unknown objects in unstructured environments is a key challenge for autonomous robotic manipulation. A practical grasp synthesis system is required to generate a diverse set of 6-DoF grasps from which a…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…

Vision based robot manipulation uses cameras to capture one or more images of a scene containing the objects to be manipulated. Taking multiple images can help if any object is occluded from one viewpoint but more visible from another…

Learning-based grasp detectors typically assume a precision grasp, where each finger only has one contact point, and estimate the grasp probability. In this work, we propose a data generation and learning pipeline that can leverage power…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

Graph condensation reduces the size of large graphs while preserving performance, addressing the scalability challenges of Graph Neural Networks caused by computational inefficiencies on large datasets. Existing methods often rely on…

Graph Neural Networks (GNNs) have demonstrated remarkable results in various real-world applications, including drug discovery, object detection, social media analysis, recommender systems, and text classification. In contrast to their vast…

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…

Grasping made impressive progress during the last few years thanks to deep learning. However, there are many objects for which it is not possible to choose a grasp by only looking at an RGB-D image, might it be for physical reasons (e.g., a…

Traditional attempts for loop closure detection typically use hand-crafted features, relying on geometric and visual information only, whereas more modern approaches tend to use semantic, appearance or geometric features extracted from deep…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…

This paper focuses on a robotic picking tasks in cluttered scenario. Because of the diversity of objects and clutter by placing, it is much difficult to recognize and estimate their pose before grasping. Here, we use U-net, a special…

The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomously identify grasping locations by using information from…

Real-time interactive grasp synthesis for dynamic objects remains challenging as existing methods fail to achieve low-latency inference while maintaining promptability. To bridge this gap, we propose SPGrasp (spatiotemporal prompt-driven…

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…

During the execution of handling processes in manufacturing, it is difficult to measure the process forces with state-of-the-art gripper systems since they usually lack integrated sensors. Thus, the exact state of the gripped object and the…

Recent advances in dexterous grasping synthesis have demonstrated significant progress in producing reasonable and plausible grasps for many task purposes. But it remains challenging to generalize to unseen object categories and diverse…

In this paper, an efficient super-resolution (SR) method based on deep convolutional neural network (CNN) is proposed, namely Gradual Upsampling Network (GUN). Recent CNN based SR methods often preliminarily magnify the low resolution (LR)…

One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…