相关论文: Deep Transfer Learning of Pick Points on Fabric fo…

Industrial bin picking for tangled-prone objects requires the robot to either pick up untangled objects or perform separation manipulation when the bin contains no isolated objects. The robot must be able to flexibly perform appropriate…

Blanking processes belong to the most widely used manufacturing techniques due to their economic efficiency. Their economic viability depends to a large extent on the resulting product quality and the associated customer satisfaction as…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Self-supervised learning methods are attractive candidates for automatic object picking. However, the trial samples lack the complete ground truth because the observable parts of the agent are limited. That is, the information contained in…

Material recognition can help inform robots about how to properly interact with and manipulate real-world objects. In this paper, we present a multimodal sensing technique, leveraging near-infrared spectroscopy and close-range high…

Recent advances in deep learning have shown exciting promise in filling large holes and lead to another orientation for image inpainting. However, existing learning-based methods often create artifacts and fallacious textures because of…

Transfer learning, which allows a source task to affect the inductive bias of the target task, is widely used in computer vision. The typical way of conducting transfer learning with deep neural networks is to fine-tune a model pre-trained…

Multi-task learning aims to improve generalization performance of multiple prediction tasks by appropriately sharing relevant information across them. In the context of deep neural networks, this idea is often realized by hand-designed…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…

In this paper, we tackle the problem of static 3D cloth draping on virtual human bodies. We introduce a two-stream deep network model that produces a visually plausible draping of a template cloth on virtual 3D bodies by extracting features…

We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…

This paper introduces a new deep learning approach to approximately solve the Covering Salesman Problem (CSP). In this approach, given the city locations of a CSP as input, a deep neural network model is designed to directly output the…

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…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

We consider a problem in which the trajectory of a mobile 3D sensor must be optimized so that certain objects are both found in the overall scene and covered by the point cloud, as fast as possible. This problem is called target search and…

Few prior works study deep learning on point sets. PointNet by Qi et al. is a pioneer in this direction. However, by design PointNet does not capture local structures induced by the metric space points live in, limiting its ability to…

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…

Advanced microscopy and/or spectroscopy tools play indispensable role in nanoscience and nanotechnology research, as it provides rich information about the growth mechanism, chemical compositions, crystallography, and other important…

This paper explores the development of UniFolding, a sample-efficient, scalable, and generalizable robotic system for unfolding and folding various garments. UniFolding employs the proposed UFONet neural network to integrate unfolding and…