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

Humans can recognize the same actions despite large context and viewpoint variations, such as differences between species (walking in spiders vs. horses), viewpoints (egocentric vs. third-person), and contexts (real life vs movies). Current…

Many objects, such as tools and household items, can be used only if grasped in a very specific way - grasped functionally. Often, a direct functional grasp is not possible, though. We propose a method for learning a dexterous pre-grasp…

Grasping objects is one of the most important abilities that a robot needs to master in order to interact with its environment. Current state-of-the-art methods rely on deep neural networks trained to jointly predict a graspability score…

Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…

Image retrieval in realistic scenarios targets large dynamic datasets of unlabeled images. In these cases, training or fine-tuning a model every time new images are added to the database is neither efficient nor scalable. Convolutional…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

The pipeline of current robotic pick-and-place methods typically consists of several stages: grasp pose detection, finding inverse kinematic solutions for the detected poses, planning a collision-free trajectory, and then executing the…

Activity recognition is the ability to identify and recognize the action or goals of the agent. The agent can be any object or entity that performs action that has end goals. The agents can be a single agent performing the action or group…

This paper concerns the problem of how to learn to grasp dexterously, so as to be able to then grasp novel objects seen only from a single view-point. Recently, progress has been made in data-efficient learning of generative grasp models…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…

The growing interest in brain-inspired computational models arises from the remarkable problem-solving efficiency of the human brain. Action recognition, a complex task in computational neuroscience, has received significant attention due…

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…

In this paper, we introduce two methods of improving real-time object grasping performance from monocular colour images in an end-to-end CNN architecture. The first is the addition of an auxiliary task during model training (multi-task…

Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…

Dexterous robotic hands are appealing for their agility and human-like morphology, yet their high degree of freedom makes learning to manipulate challenging. We introduce an approach for learning dexterous grasping. Our key idea is to embed…

We introduce the concept of unconstrained real-time 3D facial performance capture through explicit semantic segmentation in the RGB input. To ensure robustness, cutting edge supervised learning approaches rely on large training datasets of…

Despite the fact that notable improvements have been made recently in the field of feature extraction and classification, human action recognition is still challenging, especially in images, in which, unlike videos, there is no motion.…

In this paper, we propose a deep reinforcement learning (DRL) solution to the grasping problem using 2.5D images as the only source of information. In particular, we developed a simulated environment where a robot equipped with a vacuum…

The collection of internet images has been growing in an astonishing speed. It is undoubted that these images contain rich visual information that can be useful in many applications, such as visual media creation and data-driven image…