相关论文: ROI-based Robotic Grasp Detection for Object Overl…

Grasp pose detection in cluttered, real-world environments remains a significant challenge due to noisy and incomplete sensory data combined with complex object geometries. This paper introduces Grasp the Graph 2.0 (GtG 2.0) method, a…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

In this work, we tackle 6-DoF grasp detection for transparent and specular objects, which is an important yet challenging problem in vision-based robotic systems, due to the failure of depth cameras in sensing their geometry. We, for the…

Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable due to physical constraints. Even though it is…

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

Grasping objects is a fundamental yet important capability of robots, and many tasks such as sorting and picking rely on this skill. The prerequisite for stable grasping is the ability to correctly identify suitable grasping positions.…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…

We present a generalized grasping algorithm that uses point clouds (i.e. a group of points and their respective surface normals) to discover grasp pose solutions for multiple grasp types, executed by a mechanical gripper, in near real-time.…

Generating high-quality instance-wise grasp configurations provides critical information of how to grasp specific objects in a multi-object environment and is of high importance for robot manipulation tasks. This work proposed a novel…

Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…

Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…

Robust and human-like dexterous grasping of general objects is a critical capability for advancing intelligent robotic manipulation in real-world scenarios. However, existing reinforcement learning methods guided by grasp priors often…

Task-oriented grasping (TOG) is an essential preliminary step for robotic task execution, which involves predicting grasps on regions of target objects that facilitate intended tasks. Existing literature reveals there is a limited…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…