相关论文: A Multi-task Learning Framework for Grasping-Posit…

Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

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…

Recent research has seen numerous supervised learning-based methods for 3D shape segmentation and remarkable performance has been achieved on various benchmark datasets. These supervised methods require a large amount of annotated data to…

Many modern deep-learning techniques do not work without enormous datasets. At the same time, several fields demand methods working in scarcity of data. This problem is even more complex when the samples have varying structures, as in the…

Conventional training of a deep CNN based object detector demands a large number of bounding box annotations, which may be unavailable for rare categories. In this work we develop a few-shot object detector that can learn to detect novel…

The goal of few-shot learning is to recognize new visual concepts with just a few amount of labeled samples in each class. Recent effective metric-based few-shot approaches employ neural networks to learn a feature similarity comparison…

In this article, we consider the problem of few-shot learning for classification. We assume a network trained for base categories with a large number of training examples, and we aim to add novel categories to it that have only a few, e.g.,…

In the context of few-shot classification, the goal is to train a classifier using a limited number of samples while maintaining satisfactory performance. However, traditional metric-based methods exhibit certain limitations in achieving…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

The field of visual few-shot classification aims at transferring the state-of-the-art performance of deep learning visual systems onto tasks where only a very limited number of training samples are available. The main solution consists in…

Training a modern deep neural network on massive labeled samples is the main paradigm in solving the scene classification problem for remote sensing, but learning from only a few data points remains a challenge. Existing methods for…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

This paper presents a new method for parallel-jaw grasping of isolated objects from depth images, under large gripper pose uncertainty. Whilst most approaches aim to predict the single best grasp pose from an image, our method first…

Shape informs how an object should be grasped, both in terms of where and how. As such, this paper describes a segmentation-based architecture for decomposing objects sensed with a depth camera into multiple primitive shapes, along with a…

In visual recognition tasks, few-shot learning requires the ability to learn object categories with few support examples. Its re-popularity in light of the deep learning development is mainly in image classification. This work focuses on…

Deep learning methods have typically been trained on large datasets in which many training examples are available. However, many real-world product datasets have only a small number of images available for each product. We explore the use…

Humans are capable of learning new concepts from small numbers of examples. In contrast, supervised deep learning models usually lack the ability to extract reliable predictive rules from limited data scenarios when attempting to classify…

In this paper, we propose an approach to improve few-shot classification performance using a composite rotation based auxiliary task. Few-shot classification methods aim to produce neural networks that perform well for classes with a large…

Learning Based Robot Grasping currently involves the use of labeled data. This approach has two major disadvantages. Firstly, labeling data for grasp points and angles is a strenuous process, so the dataset remains limited. Secondly, human…