相关论文: Learning to Grasp Without Seeing

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

This paper studies the task of any objects grasping from the known categories by free-form language instructions. This task demands the technique in computer vision, natural language processing, and robotics. We bring these disciplines…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Grasp pose estimation is an important issue for robots to interact with the real world. However, most of existing methods require exact 3D object models available beforehand or a large amount of grasp annotations for training. To avoid…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…

In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…

This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…

The sense of touch is an essential ability for skillfully performing a variety of tasks, providing the capacity to search and manipulate objects without relying on visual information. In this paper, we introduce a multi-finger robot system…

We present an adaptive grasping method that finds stable grasps on novel objects. The main contributions of this paper is in the computation of the probability of success of grasps in the vicinity of an already applied grasp. Our method…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

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…

Sensory substitution enables biological systems to perceive stimuli that are typically perceived by another organ, which is inspirational for physical agents. Multimodal perception of intrinsic and extrinsic interactions is critical in…

Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of object images and grasp labels. However, empirical grasping…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…

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…

This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…

Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…

The ability to adapt to uncertainties, recover from failures, and coordinate between hand and fingers are essential sensorimotor skills for fully autonomous robotic grasping. In this paper, we aim to study a unified feedback control policy…