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

The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection.…

A core problem of Embodied AI is to learn object manipulation from observation, as humans do. To achieve this, it is important to localize 3D object affordance areas through observation such as images (3D affordance grounding) and…

In this work, we introduce a novel, end-to-end trainable CNN-based architecture to deliver high quality results for grasp detection suitable for a parallel-plate gripper, and semantic segmentation. Utilizing this, we propose a novel…

In this paper, we present a novel deep neural network architecture for joint class-agnostic object segmentation and grasp detection for robotic picking tasks using a parallel-plate gripper. We introduce depth-aware Coordinate Convolution…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp planners, however, are hindered by limited vision-language…

The advancement in computing power has significantly reduced the training times for deep learning, fostering the rapid development of networks designed for object recognition. However, the exploration of object utility, which is the…

Visual affordance learning is a key component for robots to understand how to interact with objects. Conventional approaches in this field rely on pre-defined objects and actions, falling short of capturing diverse interactions in realworld…

Scene understanding and object recognition is a difficult to achieve yet crucial skill for robots. Recently, Convolutional Neural Networks (CNN), have shown success in this task. However, there is still a gap between their performance on…

Visual affordance grounding aims to segment all possible interaction regions between people and objects from an image/video, which is beneficial for many applications, such as robot grasping and action recognition. However, existing methods…

In this work, we propose to utilize Convolutional Neural Networks to boost the performance of depth-induced salient object detection by capturing the high-level representative features for depth modality. We formulate the depth-induced…

Convolutional neural network (CNN) models have demonstrated great success in various computer vision tasks including image classification and object detection. However, some equally important tasks such as visual tracking remain relatively…

In this work, we provide a solution for posturing the anthropomorphic Robonaut-2 hand and arm for grasping based on visual information. A mapping from visual features extracted from a convolutional neural network (CNN) to grasp points is…

Learning-based approaches for robotic grasping using visual sensors typically require collecting a large size dataset, either manually labeled or by many trial and errors of a robotic manipulator in the real or simulated world. We propose a…

This work proposes a learning method to accelerate robotic pick-and-place planning by predicting shared grasps. Shared grasps are defined as grasp poses feasible to both the initial and goal object configurations in a pick-and-place task.…

Affordance detection from visual input is a fundamental step in autonomous robotic manipulation. Existing solutions to the problem of affordance detection rely on convolutional neural networks. However, these networks do not consider the…

Object recognition has become a crucial part of machine learning and computer vision recently. The current approach to object recognition involves Deep Learning and uses Convolutional Neural Networks to learn the pixel patterns of the…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them.…