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

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Convolutional Neural Networks (ConvNets) have achieved excellent recognition performance in various visual recognition tasks. A large labeled training set is one of the most important factors for its success. However, it is difficult to…

In cases of serious crime, including sexual abuse, often the only available information with demonstrated potential for identification is images of the hands. Since this evidence is captured in uncontrolled situations, it is difficult to…

Pathologic diagnosis is a critical phase in deciding the optimal treatment procedure for dealing with colorectal cancer (CRC). Colonic polyps, precursors to CRC, can pathologically be classified into two major types: adenomatous and…

Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand object recognition with direct touch sensing is not feasible.…

We develop a system for modeling hand-object interactions in 3D from RGB images that show a hand which is holding a novel object from a known category. We design a Convolutional Neural Network (CNN) for Hand-held Object Pose and Shape…

This paper introduces a novel AI vision-enabled pediatric prosthetic hand designed to assist children aged 10-12 with upper limb disabilities. The prosthesis features an anthropomorphic appearance, multi-articulating functionality, and a…

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…

Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…

For in-hand manipulation, estimation of the object pose inside the hand is one of the important functions to manipulate objects to the target pose. Since in-hand manipulation tends to cause occlusions by the hand or the object itself, image…

We investigate a new problem of detecting hands and recognizing their physical contact state in unconstrained conditions. This is a challenging inference task given the need to reason beyond the local appearance of hands. The lack of…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

Brain-computer interfaces are being explored for a wide variety of therapeutic applications. Typically, this involves measuring and analyzing continuous-time electrical brain activity via techniques such as electrocorticogram (ECoG) or…

Universal grasping of a diverse range of previously unseen objects from heaps is a grand challenge in e-commerce order fulfillment, manufacturing, and home service robotics. Recently, deep learning based grasping approaches have…

We find that the way we choose to represent data labels can have a profound effect on the quality of trained models. For example, training an image classifier to regress audio labels rather than traditional categorical probabilities…

State-of-the-art robotic hand prosthetics generate finger and wrist movement through pattern recognition (PR) algorithms using features of forearm electromyogram (EMG) signals, but re- quires extensive training and is prone to poor…

In this paper, we present our work on developing robot arm prosthetic via deep learning. Our work proposes to use transfer learning techniques applied to the Google Inception model to retrain the final layer for surface electromyography…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Large-scale vision-language models (VLMs) like CLIP successfully find correspondences between images and text. Through the standard deterministic mapping process, an image or a text sample is mapped to a single vector in the embedding…

Vision-language foundation models have emerged as powerful general-purpose representation learners with strong potential for multimodal understanding, but their deterministic embeddings often fail to provide the reliability required for…