相关论文: Antipodal Robotic Grasping using Generative Residu…

Robot learning is often simplified to planar manipulation due to its data consumption. Then, a common approach is to use a fully-convolutional neural network to estimate the reward of grasp primitives. In this work, we extend this approach…

In this work, we provide a solution for posturing the anthropomorphic Robonaut-2 hand and arm for grasping based on visual information. A mapping from visual features extracted from a convolutional neural network (CNN) to grasp points is…

Vision-based grasping of unknown objects in unstructured environments is a key challenge for autonomous robotic manipulation. A practical grasp synthesis system is required to generate a diverse set of 6-DoF grasps from which a…

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…

Modelling the physical properties of everyday objects is a fundamental prerequisite for autonomous robots. We present a novel generative adversarial network (Defo-Net), able to predict body deformations under external forces from a single…

Autonomous driving vehicles (ADVs) hold great hopes to solve traffic congestion problems and reduce the number of traffic accidents. Accurate trajectories prediction of other traffic agents around ADVs is of key importance to achieve safe…

We introduce a Cable Grasping-Convolutional Neural Network designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable…

Grasping moving objects, such as goods on a belt or living animals, is an important but challenging task in robotics. Conventional approaches rely on a set of manually defined object motion patterns for training, resulting in poor…

This paper introduces a new generative deep learning network for human motion synthesis and control. Our key idea is to combine recurrent neural networks (RNNs) and adversarial training for human motion modeling. We first describe an…

In the context of human-robot interaction and collaboration scenarios, robotic grasping still encounters numerous challenges. Traditional grasp detection methods generally analyze the entire scene to predict grasps, leading to redundancy…

Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…

This paper presents Densely Supervised Grasp Detector (DSGD), a deep learning framework which combines CNN structures with layer-wise feature fusion and produces grasps and their confidence scores at different levels of the image hierarchy…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

While deep neural networks have achieved remarkable success in various computer vision tasks, they often fail to generalize to new domains and subtle variations of input images. Several defenses have been proposed to improve the robustness…

In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network…

A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…

Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

Graph-structured data such as social networks, functional brain networks, gene regulatory networks, communications networks have brought the interest in generalizing deep learning techniques to graph domains. In this paper, we are…

The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomously identify grasping locations by using information from…