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

Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

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…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…

In this paper, we investigate the effectiveness of contrastive learning methods for predicting grasp outcomes in an unsupervised manner. By utilizing a publicly available dataset, we demonstrate that contrastive learning methods perform…

Deep learning techniques have enabled rapid progress in monocular depth estimation, but their quality is limited by the ill-posed nature of the problem and the scarcity of high quality datasets. We estimate depth from a single camera by…

In this paper, we present a modular robotic system to tackle the problem of generating and performing antipodal robotic grasps for unknown objects from n-channel image of the scene. We propose a novel Generative Residual Convolutional…

We propose an approach to multi-modal grasp detection that jointly predicts the probabilities that several types of grasps succeed at a given grasp pose. Given a partial point cloud of a scene, the algorithm proposes a set of feasible grasp…

Monocular depth predictors are typically trained on large-scale training sets which are naturally biased w.r.t the distribution of camera poses. As a result, trained predictors fail to make reliable depth predictions for testing examples…

This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset…

We present a follow-up study on our unified visuomotor neural model for the robotic tasks of identifying, localizing, and grasping a target object in a scene with multiple objects. Our Retinanet-based model enables end-to-end training of…

Grasp detection in a cluttered environment is still a great challenge for robots. Currently, the Transformer mechanism has been successfully applied to visual tasks, and its excellent ability of global context information extraction…

Real-world grasp detection is challenging due to the stochasticity in grasp dynamics and the noise in hardware. Ideally, the system would adapt to the real world by training directly on physical systems. However, this is generally difficult…

Monocular depth estimation and defocus estimation are two fundamental tasks in computer vision. Most existing methods treat depth estimation and defocus estimation as two separate tasks, ignoring the strong connection between them. In this…

The ability to accurately estimate depth information is crucial for many autonomous applications to recognize the surrounded environment and predict the depth of important objects. One of the most recently used techniques is monocular depth…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

We present a novel method for monocular hand shape and pose estimation at unprecedented runtime performance of 100fps and at state-of-the-art accuracy. This is enabled by a new learning based architecture designed such that it can make use…

As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…

Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…