相关论文: Self-Supervised Object-in-Gripper Segmentation fro…

Human-object interaction segmentation is a fundamental task of daily activity understanding, which plays a crucial role in applications such as assistive robotics, healthcare, and autonomous systems. Most existing learning-based methods…

A first-person camera, placed at a person's head, captures, which objects are important to the camera wearer. Most prior methods for this task learn to detect such important objects from the manually labeled first-person data in a…

In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…

To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…

In this paper, we present a novel deep neural network architecture for joint class-agnostic object segmentation and grasp detection for robotic picking tasks using a parallel-plate gripper. We introduce depth-aware Coordinate Convolution…

We consider the task of generating segmentation masks for the target object from an object manipulation instruction, which allows users to give open vocabulary instructions to domestic service robots. Conventional segmentation generation…

In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…

For the semantic segmentation of images, state-of-the-art deep neural networks (DNNs) achieve high segmentation accuracy if that task is restricted to a closed set of classes. However, as of now DNNs have limited ability to operate in an…

Parts provide a good intermediate representation of objects that is robust with respect to the camera, pose and appearance variations. Existing works on part segmentation is dominated by supervised approaches that rely on large amounts of…

We address the problem of discovering part segmentations of articulated objects without supervision. In contrast to keypoints, part segmentations provide information about part localizations on the level of individual pixels. Capturing both…

We describe an unsupervised method to detect and segment portions of images of live scenes that, at some point in time, are seen moving as a coherent whole, which we refer to as objects. Our method first partitions the motion field by…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

As a computer vision task, automatic object segmentation remains challenging in specialized image domains without massive labeled data, such as synthetic aperture sonar images, remote sensing, biomedical imaging, etc. In any domain,…

This paper tackles the task of semi-supervised video object segmentation, i.e., the separation of an object from the background in a video, given the mask of the first frame. We present One-Shot Video Object Segmentation (OSVOS), based on a…

In order to function in unstructured environments, robots need the ability to recognize unseen objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However, the…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

One major technique debt in video object segmentation is to label the object masks for training instances. As a result, we propose to prepare inexpensive, yet high quality pseudo ground truth corrected with motion cue for video object…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…

Video Object Segmentation (VOS) is an active research area of the visual domain. One of its fundamental sub-tasks is semi-supervised / one-shot learning: given only the segmentation mask for the first frame, the task is to provide…