相关论文: Enhancing a Neurocognitive Shared Visuomotor Model…

As robots perform manipulation tasks and interact with objects, it is probable that they accidentally drop objects (e.g., due to an inadequate grasp of an unfamiliar object) that subsequently bounce out of their visual fields. To enable…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

Visual attention is a mechanism closely intertwined with vision and memory. Top-down information influences visual processing through attention. We designed a neural network model inspired by aspects of human visual attention. This model…

Human visual perception carves a scene at its physical joints, decomposing the world into objects, which are selectively attended, tracked, and predicted as we engage our surroundings. Object representations emancipate perception from the…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

We develop a model of perceptual similarity judgment based on re-training a deep convolution neural network (DCNN) that learns to associate different views of each 3D object to capture the notion of object persistence and continuity in our…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

Despite significant recent progress, machine vision systems lag considerably behind their biological counterparts in performance, scalability, and robustness. A distinctive hallmark of the brain is its ability to automatically discover and…

A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…

We present a modular framework designed to enable a robot hand-arm system to learn how to catch flying objects, a task that requires fast, reactive, and accurately-timed robot motions. Our framework consists of five core modules: (i) an…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Uncovering the fundamental neural correlates of biological intelligence, developing mathematical models, and conducting computational simulations are critical for advancing new paradigms in artificial intelligence (AI). In this study, we…

Manipulating articulated objects requires multiple robot arms in general. It is challenging to enable multiple robot arms to collaboratively complete manipulation tasks on articulated objects. In this paper, we present $\textbf{V-MAO}$, a…

Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…

Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

In this paper, we present a novel approach to incrementally learn an Abstract Model of an unknown environment, and show how an agent can reuse the learned model for tackling the Object Goal Navigation task. The Abstract Model is a finite…