相关论文: From Hand-Perspective Visual Information to Grasp …

Telemanipulation of deformable objects requires high precision and dexterity from the users, which can be increased by kinesthetic and tactile feedback. However, the object shape can change dynamically, causing ambiguous perception of its…

Multi-label image classification presents a challenging task in many domains, including computer vision and medical imaging. Recent advancements have introduced graph-based and transformer-based methods to improve performance and capture…

In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…

We propose a fully automatic method for learning gestures on big touch devices in a potentially multi-user context. The goal is to learn general models capable of adapting to different gestures, user styles and hardware variations (e.g.…

Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…

The labeled data required to learn pose estimation for articulated objects is difficult to provide in the desired quantity, realism, density, and accuracy. To address this issue, we develop a method to learn representations, which are very…

The classification of different fine hand movements from EEG signals represents a relevant research challenge, e.g., in brain-computer interface applications for motor rehabilitation. Here, we analyzed two different datasets where fine hand…

The ability to estimate the perceptual error between images is an important problem in computer vision with many applications. Although it has been studied extensively, however, no method currently exists that can robustly predict visual…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

In this paper, we study whether inexpensive, physics-free supervision can reliably prioritize grasp-place candidates for budget-aware pick-and-place. From an object's initial pose, target pose, and a candidate grasp, we generate two…

We introduce and we analyze a new dataset which resembles the input to biological vision systems much more than most previously published ones. Our analysis leaded to several important conclusions. First, it is possible to disambiguate over…

While grasps must satisfy the grasping stability criteria, good grasps depend on the specific manipulation scenario: the object, its properties and functionalities, as well as the task and grasp constraints. In this paper, we consider such…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

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…

Robotic grasp detection for novel objects is a challenging task, but for the last few years, deep learning based approaches have achieved remarkable performance improvements, up to 96.1% accuracy, with RGB-D data. In this paper, we propose…

One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to…

Learning to rank has recently emerged as an attractive technique to train deep convolutional neural networks for various computer vision tasks. Pairwise ranking, in particular, has been successful in multi-label image classification,…

Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…

This paper presents a new method for parallel-jaw grasping of isolated objects from depth images, under large gripper pose uncertainty. Whilst most approaches aim to predict the single best grasp pose from an image, our method first…