相关论文: KOVIS: Keypoint-based Visual Servoing with Zero-Sh…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

Collaborative SLAM is at the core of perception in multi-robot systems as it enables the co-localization of the team of robots in a common reference frame, which is of vital importance for any coordination amongst them. The paradigm of a…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomization (DR) is commonly used to improve the robustness of learned…

Supervised deep learning has become the method of choice for image denoising. It involves the training of neural networks on large datasets composed of pairs of noisy and clean images. However, the necessity of training data that are…

To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…

Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…

We present a system which grows and manages a network of remote viewpoints during the natural installation cycle for a newly installed camera network or a newly deployed robot fleet. No explicit notion of camera position or orientation is…

This paper shows that when applying machine learning to digital zoom for photography, it is beneficial to use real, RAW sensor data for training. Existing learning-based super-resolution methods do not use real sensor data, instead…

We aim to develop an algorithm for robots to manipulate novel objects as tools for completing different task goals. An efficient and informative representation would facilitate the effectiveness and generalization of such algorithms. For…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Robotic systems that aspire to operate in uninstrumented real-world environments must perceive the world directly via onboard sensing. Vision-based learning systems aim to eliminate the need for environment instrumentation by building an…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high durability and tactile density. However, the large sim-to-real…

We present a novel approach to unsupervised learning for video object segmentation (VOS). Unlike previous work, our formulation allows to learn dense feature representations directly in a fully convolutional regime. We rely on uniform grid…

We present DOME, a novel method for one-shot imitation learning, where a task can be learned from just a single demonstration and then be deployed immediately, without any further data collection or training. DOME does not require prior…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…

The study of object representations in computer vision has primarily focused on developing representations that are useful for image classification, object detection, or semantic segmentation as downstream tasks. In this work we aim to…