相关论文: Vision-based Teleoperation of Shadow Dexterous Han…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

The importance of robotic assistive devices grows in our work and everyday life. Cooperative scenarios involving both robots and humans require safe human-robot interaction. One important aspect here is the management of robot errors,…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

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.…

During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…

<<<This is a pre-acceptance version, please, go through Pattern Recognition Journal on Sciencedirect to read the final version>>>. Edge detection is the basis of many computer vision applications. State of the art predominantly relies on…

Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…

Dexterous robot hand teleoperation allows for long-range transfer of human manipulation expertise, and could simultaneously provide a way for humans to teach these skills to robots. However, current methods struggle to reproduce the…

We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…

High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of…

We present in this work the first end-to-end deep learning based method that predicts both 3D hand shape and pose from RGB images in the wild. Our network consists of the concatenation of a deep convolutional encoder, and a fixed…

Kinematic retargeting from human hands to robot hands is essential for transferring dexterity from humans to robots in manipulation teleoperation and imitation learning. However, due to mechanical differences between human and robot hands,…

Images of handwritten digits are different from natural images as the orientation of a digit, as well as similarity of features of different digits, makes confusion. On the other hand, deep convolutional neural networks are achieving huge…

Spacecraft pose estimation plays a vital role in many on-orbit space missions, such as rendezvous and docking, debris removal, and on-orbit maintenance. At present, space images contain widely varying lighting conditions, high contrast and…

Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal…

We propose a real-time DNN-based technique to segment hand and object of interacting motions from depth inputs. Our model is called DenseAttentionSeg, which contains a dense attention mechanism to fuse information in different scales and…

This paper proposes a Deep Learning based edge detector, which is inspired on both HED (Holistically-Nested Edge Detection) and Xception networks. The proposed approach generates thin edge-maps that are plausible for human eyes; it can be…

Training neural networks is a challenging non-convex optimization problem, and backpropagation or gradient descent can get stuck in spurious local optima. We propose a novel algorithm based on tensor decomposition for guaranteed training of…

Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…