相关论文: Learning to Detect Multi-Modal Grasps for Dexterou…

Many previous works approach vision-based robotic grasping by training a value network that evaluates grasp proposals. These approaches require an optimization process at run-time to infer the best action from the value network. As a…

In this paper, we present a real-time approach to predict multiple grasping poses for a parallel-plate robotic gripper using RGB images. A model with oriented anchor box mechanism is proposed and a new matching strategy is used during the…

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…

Reinforcement learning is a promising method for robotic grasping as it can learn effective reaching and grasping policies in difficult scenarios. However, achieving human-like manipulation capabilities with sophisticated robotic hands is…

The reliability of grasp detection for target objects in complex scenes is a challenging task and a critical problem that needs to be solved urgently in practical application. At present, the grasp detection location comes from searching…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…

We introduce a Cable Grasping-Convolutional Neural Network designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable…

Objects grasping, also known as the bin-picking, is one of the most common tasks faced by industrial robots. While much work has been done in related topics, grasping randomly piled objects still remains a challenge because much of the…

Robotic grasp detection task is still challenging, particularly for novel objects. With the recent advance of deep learning, there have been several works on detecting robotic grasp using neural networks. Typically, regression based grasp…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate…

6-DoF grasp pose detection of multi-grasp and multi-object is a challenge task in the field of intelligent robot. To imitate human reasoning ability for grasping objects, data driven methods are widely studied. With the introduction of…

Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…

Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…

This work provides an architecture that incorporates depth and tactile information to create rich and accurate 3D models useful for robotic manipulation tasks. This is accomplished through the use of a 3D convolutional neural network (CNN).…

Grasp detection in clutter requires the robot to reason about the 3D scene from incomplete and noisy perception. In this work, we draw insight that 3D reconstruction and grasp learning are two intimately connected tasks, both of which…

In this paper, we demonstrate an end-to-end spatiotemporal gesture learning approach for 3D point cloud data using a new gestures dataset of point clouds acquired from a 3D sensor. Nine classes of gestures were learned from gestures sample…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-backward automatic differentiation approach, including the…