相关论文: Grasp-type Recognition Leveraging Object Affordanc…

Material recognition enables robots to incorporate knowledge of material properties into their interactions with everyday objects. For example, material recognition opens up opportunities for clearer communication with a robot, such as…

Visual affordance segmentation identifies the surfaces of an object an agent can interact with. Common challenges for the identification of affordances are the variety of the geometry and physical properties of these surfaces as well as…

Grasp learning has become an exciting and important topic in robotics. Just a few years ago, the problem of grasping novel objects from unstructured piles of clutter was considered a serious research challenge. Now, it is a capability that…

Convolutional Neural Network(CNN) has been widely used for image recognition with great success. However, there are a number of limitations of the current CNN based image recognition paradigm. First, the receptive field of CNN is generally…

Robotic grasping traditionally relies on object features or shape information for learning new or applying already learned grasps. We argue however that such a strong reliance on object geometric information renders grasping and grasp…

The convolutional neural network (CNN) learns the same object in different positions in images, which can improve the recognition accuracy of the model. An implication of this is that CNN may know where the object is. The usefulness of the…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…

Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and…

This paper proposes a generic method to learn interpretable convolutional filters in a deep convolutional neural network (CNN) for object classification, where each interpretable filter encodes features of a specific object part. Our method…

Hyper-spectral images are images captured from a satellite that gives spatial and spectral information of specific region.A Hyper-spectral image contains much more number of channels as compared to a RGB image, hence containing more…

Planning with a learned model is arguably a key component of intelligence. There are several challenges in realizing such a component in large-scale reinforcement learning (RL) problems. One such challenge is dealing effectively with…

Recent advances in deep learning have led to significant progress in the computer vision field, especially for visual object recognition tasks. The features useful for object classification are learned by feed-forward deep convolutional…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

Graph Convolutional Networks (GCNs) have become a crucial tool on learning representations of graph vertices. The main challenge of adapting GCNs on large-scale graphs is the scalability issue that it incurs heavy cost both in computation…

We present a context aware object detection method based on a retrieve-and-transform scene layout model. Given an input image, our approach first retrieves a coarse scene layout from a codebook of typical layout templates. In order to…

Deep learning models based on CNNs are predominantly used in image classification tasks. Such approaches, assuming independence of object categories, normally use a CNN as a feature learner and apply a flat classifier on top of it. Object…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

There is a plenty of research going on in field of object recognition, but object state recognition has not been addressed as much. There are many important applications which can utilize object state recognition, such as, in robotics, to…

Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step toward open-world embodied intelligence. For human beings, this ability is rooted in the understanding of semantic correspondence among objects,…