相关论文: Domain Independent Unsupervised Learning to grasp …

Deep neural networks are efficient learning machines which leverage upon a large amount of manually labeled data for learning discriminative features. However, acquiring substantial amount of supervised data, especially for videos can be a…

Robotic grasp detection for novel objects is a challenging task, but for the last few years, deep learning based approaches have achieved remarkable performance improvements, up to 96.1% accuracy, with RGB-D data. In this paper, we propose…

Unsupervised domain adaptation is effective in leveraging the rich information from the source domain to the unsupervised target domain. Though deep learning and adversarial strategy make an important breakthrough in the adaptability of…

Training a good deep learning model requires substantial data and computing resources, which makes the resulting neural model a valuable intellectual property. To prevent the neural network from being undesirably exploited, non-transferable…

We study the hard problem of 3D object segmentation in complex point clouds without requiring human labels of 3D scenes for supervision. By relying on the similarity of pretrained 2D features or external signals such as motion to group 3D…

Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach. In this paper, a robotic grasp…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

This paper addresses the task of unsupervised learning of representations for action recognition in videos. Previous works proposed to utilize future prediction, or other domain-specific objectives to train a network, but achieved only…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…

Automated surface segmentation is important and challenging in many medical image analysis applications. Recent deep learning based methods have been developed for various object segmentation tasks. Most of them are a classification based…

Image segmentation is a fundamental task in computer vision. Data annotation for training supervised methods can be labor-intensive, motivating unsupervised methods. Current approaches often rely on extracting deep features from pre-trained…

Recent advancements in prosthetic technology have increasingly focused on enhancing dexterity and autonomy through intelligent control systems. Vision-based approaches offer promising results for enabling prosthetic hands to interact more…

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…

This paper proposes a method to ease the unsupervised learning of object landmark detectors. Similarly to previous methods, our approach is fully unsupervised in a sense that it does not require or make any use of annotated landmarks for…

Wireless signal-based gesture recognition has promoted the developments of VR game, smart home, etc. However, traditional approaches suffer from the influence of the domain gap. Low recognition accuracy occurs when the recognition model is…

While great strides have been made in using deep learning algorithms to solve supervised learning tasks, the problem of unsupervised learning - leveraging unlabeled examples to learn about the structure of a domain - remains a difficult…

The recent emergence of deep learning has led to a great deal of work on designing supervised deep semantic segmentation algorithms. As in many tasks sufficient pixel-level labels are very difficult to obtain, we propose a method which…

Approximate Nearest Neighbor Search (ANNS) in high dimensional spaces is crucial for many real-life applications (e.g., e-commerce, web, multimedia, etc.) dealing with an abundance of data. This paper proposes an end-to-end learning…

Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy (ACE-NBV) that tries to find a feasible…