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

This work addresses the task of multilabel image classification. Inspired by the great success from deep convolutional neural networks (CNNs) for single-label visual-semantic embedding, we exploit extending these models for multilabel…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Machine learning methods are increasingly applied to ergonomic risk assessment in manual material handling, particularly for estimating carried load from gait motion data collected from wearable sensors. However, existing approaches often…

Conventional works that learn grasping affordance from demonstrations need to explicitly predict grasping configurations, such as gripper approaching angles or grasping preshapes. Classic motion planners could then sample trajectories by…

Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for…

We propose a new, more actionable view of neural network interpretability and data analysis by leveraging the remarkable matching effectiveness of representations derived from deep networks, guided by an approach for class-conditional…

IMUs are gaining significant importance in the field of hand gesture analysis, trajectory detection and kinematic functional study. An Inertial Measurement Unit (IMU) consists of tri-axial accelerometers and gyroscopes which can together be…

For challenging machine learning problems such as zero-shot learning and fine-grained categorization, embedding learning is the machinery of choice because of its ability to learn generic notions of similarity, as opposed to class-specific…

Nowadays, hand gesture recognition has become an alternative for human-machine interaction. It has covered a large area of applications like 3D game technology, sign language interpreting, VR (virtual reality) environment, and robotics. But…

We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…

Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…

Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

This work explores conditions under which multi-finger grasping algorithms can attain robust sim-to-real transfer. While numerous large datasets facilitate learning generative models for multi-finger grasping at scale, reliable real-world…

This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…

Recently, deep learning based approaches have shown promising results in 3D hand reconstruction from a single RGB image. These approaches can be roughly divided into model-based approaches, which are heavily dependent on the model's…

The prevailing grasp prediction methods predominantly rely on offline learning, overlooking the dynamic grasp learning that occurs during real-time adaptation to novel picking scenarios. These scenarios may involve previously unseen…

The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection.…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…