相关论文: Action Image Representation: Learning Scalable Dee…

One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related to…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

To tackle the "reality gap" encountered in Sim-to-Real transfer, this study proposes a diffusion-based framework that minimizes inconsistencies in grasping actions between the simulation settings and realistic environments. The process…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

Action recognition is an important yet challenging task in computer vision. In this paper, we propose a novel deep-based framework for action recognition, which improves the recognition accuracy by: 1) deriving more precise features for…

Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping policies for arbitrary objects has proven challenging due to the…

Although dense local spatial-temporal features with bag-of-features representation achieve state-of-the-art performance for action recognition, the huge feature number and feature size prevent current methods from scaling up to real size…

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…

Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge…

Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…

This paper aims at one newly raising task in vision and multimedia research: recognizing human actions from still images. Its main challenges lie in the large variations in human poses and appearances, as well as the lack of temporal motion…

We introduce the concept of "dynamic image", a novel compact representation of videos useful for video analysis, particularly in combination with convolutional neural networks (CNNs). A dynamic image encodes temporal data such as RGB or…

Existing video captioning methods merely provide shallow or simplistic representations of object behaviors, resulting in superficial and ambiguous descriptions. However, object behavior is dynamic and complex. To comprehensively capture the…

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…

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…

Dexterous grasping of a novel object given a single view is an open problem. This paper makes several contributions to its solution. First, we present a simulator for generating and testing dexterous grasps. Second we present a data set,…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

Bridging the 'reality gap' that separates simulated robotics from experiments on hardware could accelerate robotic research through improved data availability. This paper explores domain randomization, a simple technique for training models…