相关论文: Densely Supervised Grasp Detector (DSGD)

Neural decoding involves correlating signals acquired from the brain to variables in the physical world like limb movement or robot control in Brain Machine Interfaces. In this context, this work starts from a specific pre-existing dataset…

Deep learning is typically performed by learning a neural network solely from data in the form of input-output pairs ignoring available domain knowledge. In this work, the Constraint Guided Gradient Descent (CGGD) framework is proposed that…

Gradient clipping is commonly used in training deep neural networks partly due to its practicability in relieving the exploding gradient problem. Recently, \citet{zhang2019gradient} show that clipped (stochastic) Gradient Descent (GD)…

There is significant recent interest to parallelize deep learning algorithms in order to handle the enormous growth in data and model sizes. While most advances focus on model parallelization and engaging multiple computing agents via using…

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…

Establishing dense correspondence between two images is a fundamental computer vision problem, which is typically tackled by matching local feature descriptors. However, without global awareness, such local features are often insufficient…

Salient object detection is a fundamental problem and has been received a great deal of attentions in computer vision. Recently deep learning model became a powerful tool for image feature extraction. In this paper, we propose a multi-scale…

Recent methods for boundary or edge detection built on Deep Convolutional Neural Networks (CNNs) typically suffer from the issue of predicted edges being thick and need post-processing to obtain crisp boundaries. Highly imbalanced…

In this paper, we propose a new Deep Neural Network (DNN) testing algorithm called the Constrained Gradient Descent (CGD) method, and an implementation we call CGDTest aimed at exposing security and robustness issues such as adversarial…

The training of machine learning models is typically carried out using some form of gradient descent, often with great success. However, non-asymptotic analyses of first-order optimization algorithms typically employ a gradient smoothness…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

We propose a network for semantic mapping called the Dense Dilated Convolutions Merging Network (DDCM-Net) to provide a deep learning approach that can recognize multi-scale and complex shaped objects with similar color and textures, such…

In this paper, we study the problem of salient object detection (SOD) for RGB-D images using both color and depth information.A major technical challenge in performing salient object detection fromRGB-D images is how to fully leverage the…

Deep Learning methods, specifically convolutional neural networks (CNNs), have seen a lot of success in the domain of image-based data, where the data offers a clearly structured topology in the regular lattice of pixels. This…

While many systems have been developed to train Graph Neural Networks (GNNs), efficient model inference and evaluation remain to be addressed. For instance, using the widely adopted node-wise approach, model evaluation can account for up to…

In recent years, supervised learning with convolutional networks (CNNs) has seen huge adoption in computer vision applications. Comparatively, unsupervised learning with CNNs has received less attention. In this work we hope to help bridge…

Scene-graph generation involves creating a structural representation of the relationships between objects in a scene by predicting subject-object-relation triplets from input data. Existing methods show poor performance in detecting…

Restoring the clean background from the superimposed images containing a noisy layer is the common crux of a classical category of tasks on image restoration such as image reflection removal, image deraining and image dehazing. These tasks…

Learning robotic grasps from visual observations is a promising yet challenging task. Recent research shows its great potential by preparing and learning from large-scale synthetic datasets. For the popular, 6 degree-of-freedom (6-DOF)…

Deep unfolding networks have recently gained popularity in the context of solving imaging inverse problems. However, the computational and memory complexity of data-consistency layers within traditional deep unfolding networks scales with…