相关论文: Real-Time Deep Learning Approach to Visual Servo C…

Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval…

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…

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…

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…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…

This paper focuses on robotic picking tasks in cluttered scenario. Because of the diversity of poses, types of stack and complicated background in bin picking situation, it is much difficult to recognize and estimate their pose before…

We propose to leverage a real-world, human activity RGB dataset to teach a robot Task-Oriented Grasping (TOG). We develop a model that takes as input an RGB image and outputs a hand pose and configuration as well as an object pose and a…

In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents a data-driven oriented methodology to model the grasp space of a multi-fingered adaptive gripper for known objects.…

Object grasping is a fundamental challenge in robotics and computer vision, critical for advancing robotic manipulation capabilities. Deformable objects, like fabrics and cloths, pose additional challenges due to their non-rigid nature. In…

Dexterous grasping in multi-object scene constitutes a fundamental challenge in robotic manipulation. Current mainstream grasping datasets predominantly focus on single-object scenarios and predefined grasp configurations, often neglecting…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

As large models gain traction, vision-language-action (VLA) systems are enabling robots to tackle increasingly complex tasks. However, limited by the difficulty of data collection, progress has mainly focused on controlling simple gripper…

We address a class of manipulation problems where the robot perceives the scene with a depth sensor and can move its end effector in a space with six degrees of freedom -- 3D position and orientation. Our approach is to formulate the…

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set,…

Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…