相关论文: Combining RGB and Points to Predict Grasping Regio…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

This paper considers the problem of grasp pose detection in point clouds. We follow a general algorithmic structure that first generates a large set of 6-DOF grasp candidates and then classifies each of them as a good or a bad grasp. Our…

In this paper, we propose a novel representation for grasping using contacts between multi-finger robotic hands and objects to be manipulated. This representation significantly reduces the prediction dimensions and accelerates the learning…

Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…

RGB-D based 6D pose estimation has recently achieved remarkable progress, but still suffers from two major limitations: (1) ineffective representation of depth data and (2) insufficient integration of different modalities. This paper…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…

We propose to leverage a real-world, human activity RGB dataset to teach a robot Task-Oriented Grasping (TOG). We develop a model that takes as input an RGB image and outputs a hand pose and configuration as well as an object pose and a…

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…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

We present convolutional neural networks for the tasks of keypoint (pose) prediction and action classification of people in unconstrained images. Our approach involves training an R-CNN detector with loss functions depending on the task…

This paper shows experimental results on learning based randomized bin-picking combined with iterative visual recognition. We use the random forest to predict whether or not a robot will successfully pick an object for given depth images of…

High-resolution representations are important for vision-based robotic grasping problems. Existing works generally encode the input images into low-resolution representations via sub-networks and then recover high-resolution…

Clothes grasping and unfolding is a core step in robotic-assisted dressing. Most existing works leverage depth images of clothes to train a deep learning-based model to recognize suitable grasping points. These methods often utilize physics…

With robots increasingly collaborating with humans in everyday tasks, it is important to take steps toward robotic systems capable of understanding the environment. This work focuses on scene understanding to detect pick and place tasks…

Robot manipulation and grasping mechanisms have received considerable attention in the recent past, leading to the development of wide range of industrial applications. This paper proposes the development of an autonomous robotic grasping…

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D…