相关论文: Domain Independent Unsupervised Learning to grasp …

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

In this paper, we investigate a new framework for image classification that adaptively generates spatial representations. Our strategy is based on a sequential process that learns to explore the different regions of any image in order to…

Contemporary grasp detection approaches employ deep learning to achieve robustness to sensor and object model uncertainty. The two dominant approaches design either grasp-quality scoring or anchor-based grasp recognition networks. This…

In this paper we study grasp problem in dense cluster, a challenging task in warehouse logistics scenario. By introducing a two-step robust suction affordance detection method, we focus on using vacuum suction pad to clear up a box filled…

Training deep neural networks to estimate the viewpoint of objects requires large labeled training datasets. However, manually labeling viewpoints is notoriously hard, error-prone, and time-consuming. On the other hand, it is relatively…

Food packing industry workers typically pick a target amount of food by hand from a food tray and place them in containers. Since menus are diverse and change frequently, robots must adapt and learn to handle new foods in a short time-span.…

Image segmentation is the foundation of several computer vision tasks, where pixel-wise knowledge is a prerequisite for achieving the desired target. Deep learning has shown promising performance in supervised image segmentation. However,…

In this paper, we focus on the unsupervised multi-view feature selection which tries to handle high dimensional data in the field of multi-view learning. Although some graph-based methods have achieved satisfactory performance, they ignore…

Supervised learning with large scale labeled datasets and deep layered models has made a paradigm shift in diverse areas in learning and recognition. However, this approach still suffers generalization issues under the presence of a domain…

Exemplar learning is a powerful paradigm for discovering visual similarities in an unsupervised manner. In this context, however, the recent breakthrough in deep learning could not yet unfold its full potential. With only a single positive…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

For challenging machine learning problems such as zero-shot learning and fine-grained categorization, embedding learning is the machinery of choice because of its ability to learn generic notions of similarity, as opposed to class-specific…

This paper presents a new self-supervised system for learning to detect novel and previously unseen categories of objects in images. The proposed system receives as input several unlabeled videos of scenes containing various objects. The…

Collecting well-annotated image datasets to train modern machine learning algorithms is prohibitively expensive for many tasks. One appealing alternative is rendering synthetic data where ground-truth annotations are generated…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…

Dense Object Nets (DONs) by Florence, Manuelli and Tedrake (2018) introduced dense object descriptors as a novel visual object representation for the robotics community. It is suitable for many applications including object grasping, policy…

For a robot to perform complex manipulation tasks, it is necessary for it to have a good grasping ability. However, vision based robotic grasp detection is hindered by the unavailability of sufficient labelled data. Furthermore, the…

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…

This paper introduces self-taught object localization, a novel approach that leverages deep convolutional networks trained for whole-image recognition to localize objects in images without additional human supervision, i.e., without using…

Feature selection methods have an important role on the readability of data and the reduction of complexity of learning algorithms. In recent years, a variety of efforts are investigated on feature selection problems based on unsupervised…