相关论文: Multi-modal Transfer Learning for Grasping Transpa…

We present the design, implementation, and evaluation of RF-Grasp, a robotic system that can grasp fully-occluded objects in unknown and unstructured environments. Unlike prior systems that are constrained by the line-of-sight perception of…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…

We develop an approach to learning visual representations that embraces multimodal data, driven by a combination of intra- and inter-modal similarity preservation objectives. Unlike existing visual pre-training methods, which solve a proxy…

Compressive Learning is an emerging topic that combines signal acquisition via compressive sensing and machine learning to perform inference tasks directly on a small number of measurements. Many data modalities naturally have a…

High-resolution radar sensors are able to resolve multiple detections per object and therefore provide valuable information for vehicle environment perception. For instance, multiple detections allow to infer the size of an object or to…

In the era of deep learning, the increasing number of pre-trained models available online presents a wealth of knowledge. These models, developed with diverse architectures and trained on varied datasets for different tasks, provide unique…

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…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

Sign language recognition from sequences of monocular images or 2D poses is a challenging field, not only due to the difficulty to infer 3D information from 2D data, but also due to the temporal relationship between the sequences of…

Light field data has been demonstrated to facilitate the depth estimation task. Most learning-based methods estimate the depth infor-mation from EPI or sub-aperture images, while less methods pay attention to the focal stack. Existing…

Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…

The focal point of egocentric video understanding is modelling hand-object interactions. Standard models -- CNNs, Vision Transformers, etc. -- which receive RGB frames as input perform well, however, their performance improves further by…

Tremendous progress in deep learning over the last years has led towards a future with autonomous vehicles on our roads. Nevertheless, the performance of their perception systems is strongly dependent on the quality of the utilized training…

This paper presents a novel yet intuitive approach to unsupervised feature learning. Inspired by the human visual system, we explore whether low-level motion-based grouping cues can be used to learn an effective visual representation.…

Image-to-image translation is affected by entanglement phenomena, which may occur in case of target data encompassing occlusions such as raindrops, dirt, etc. Our unsupervised model-based learning disentangles scene and occlusions, while…

In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…

Multi-modal affect recognition models leverage complementary information in different modalities to outperform their uni-modal counterparts. However, due to the unavailability of modality-specific sensors or data, multi-modal models may not…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…