相关论文: Improving Robotic Grasping on Monocular Images Via…

Human performance capture is a highly important computer vision problem with many applications in movie production and virtual/augmented reality. Many previous performance capture approaches either required expensive multi-view setups or…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal…

Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two…

Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…

The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…

This paper introduces Action Image, a new grasp proposal representation that allows learning an end-to-end deep-grasping policy. Our model achieves $84\%$ grasp success on $172$ real world objects while being trained only in simulation on…

Convolutional Neural Networks (CNNs) have achieved remarkable success across a wide range of machine learning tasks by leveraging hierarchical feature learning through deep architectures. However, the large number of layers and millions of…

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Human performance capture is a highly important computer vision problem with many applications in movie production and virtual/augmented reality. Many previous performance capture approaches either required expensive multi-view setups or…

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…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

We consider the task of estimating the 3D orientation of an object of known category given an image of the object and a bounding box around it. Recently, CNN-based regression and classification methods have shown significant performance…

This paper concerns the problem of how to learn to grasp dexterously, so as to be able to then grasp novel objects seen only from a single view-point. Recently, progress has been made in data-efficient learning of generative grasp models…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

Aiming at the traditional grasping method for manipulators based on 2D camera, when faced with the scene of gathering or covering, it can hardly perform well in unstructured scenes that appear as gathering and covering, for the reason that…

Coherent imaging systems like synthetic aperture radar are susceptible to multiplicative noise that makes applications like automatic target recognition challenging. In this paper, NeighCNN, a deep learning-based speckle reduction algorithm…

Recent developments in the field of robot grasping have shown great improvements in the grasp success rates when dealing with unknown objects. In this work we improve on one of the most promising approaches, the Grasp Quality Convolutional…