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

Advances in biosignal signal processing and machine learning, in particular Deep Neural Networks (DNNs), have paved the way for the development of innovative Human-Machine Interfaces for decoding the human intent and controlling artificial…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

We propose a self-supervised training approach for learning view-invariant dense visual descriptors using image augmentations. Unlike existing works, which often require complex datasets, such as registered RGBD sequences, we train on an…

This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…

Hand gesture classification using high-quality structured data such as videos, images, and hand skeletons is a well-explored problem in computer vision. Leveraging low-power, cost-effective biosignals, e.g. surface electromyography (sEMG),…

In recent years, Convolutional Neural Networks (CNNs) have enabled significant advancements to the state-of-the-art in computer vision. For classification tasks, CNNs have widely employed probabilistic output and have shown the significance…

Visual segmentation is a key perceptual function that partitions visual space and allows for detection, recognition and discrimination of objects in complex environments. The processes underlying human segmentation of natural images are…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

The instability of myoelectric signals over time complicates their use to control highly articulated prostheses. To address this problem, studies have tried to combine surface electromyography with modalities that are less affected by the…

Research on automated, image based identification of clothing categories and fashion landmarks has recently gained significant interest due to its potential impact on areas such as robotic clothing manipulation, automated clothes sorting…

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…

In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach combines reinforcement learning based on visual perception…

Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…

For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. To advance next-generation prosthetic hand control design, it is crucial to address current shortcomings in robustness…

Decoding multiple movements from the same limb using electroencephalographic (EEG) activity is a key challenge with applications for controlling prostheses in upper-limb amputees. This study investigates the classification of four hand…

Accurately identifying hands in images is a key sub-task for human activity understanding with wearable first-person point-of-view cameras. Traditional hand segmentation approaches rely on a large corpus of manually labeled data to generate…

Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…

In this work, deep learning models are applied to a segment of a robust hand-washing dataset that has been created with the help of 30 volunteers. This work demonstrates the classification of presence of one hand, two hands and no hand in…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…