相关论文: RICE: Refining Instance Masks in Cluttered Environ…

Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…

All instance perception tasks aim at finding certain objects specified by some queries such as category names, language expressions, and target annotations, but this complete field has been split into multiple independent subtasks. In this…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

Unsupervised instance segmentation aims to segment distinct object instances in an image without relying on human-labeled data. This field has recently seen significant advancements, partly due to the strong local correspondences afforded…

We propose a new and, arguably, a very simple reduction of instance segmentation to semantic segmentation. This reduction allows to train feed-forward non-recurrent deep instance segmentation systems in an end-to-end fashion using…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

Instance segmentation is a core computer vision task with great practical significance. Recent advances, driven by large-scale benchmark datasets, have yielded good general-purpose Convolutional Neural Network (CNN)-based methods. Natural…

Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex…

Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…

We present a recurrent model for semantic instance segmentation that sequentially generates binary masks and their associated class probabilities for every object in an image. Our proposed system is trainable end-to-end from an input image…

Learning to act in unstructured environments, such as cluttered piles of objects, poses a substantial challenge for manipulation robots. We present a novel neural network-based approach that separates unknown objects in clutter by selecting…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

In our daily life, cluttered objects are everywhere, from scattered stationery and books cluttering the table to bowls and plates filling the kitchen sink. Retrieving a target object from clutters is an essential while challenging skill for…

Recent advances in the area of plane segmentation from single RGB images show strong accuracy improvements and now allow a reliable segmentation of indoor scenes into planes. Nonetheless, fine-grained details of these segmentation masks are…

We propose a novel framework for decision-making in cooperative grasping for two-robot object transport in constrained environments. The core of the framework is a Conditional Embedding (CE) model consisting of two neural networks that map…

Visual perception plays a pivotal role in enabling autonomous behavior, offering a cost-effective and efficient alternative to complex multi-sensor systems. However, robust segmentation remains a challenge in complex scenarios. To address…

We present a framework for efficient perceptual inference that explicitly reasons about the segmentation of its inputs and features. Rather than being trained for any specific segmentation, our framework learns the grouping process in an…

Multi-instance point cloud registration estimates the poses of multiple instances of a model point cloud in a scene point cloud. Extracting accurate point correspondence is to the center of the problem. Existing approaches usually treat the…

Image segmentation, the process of partitioning an image into meaningful regions, plays a pivotal role in computer vision and medical imaging applications. Unsupervised segmentation, particularly in the absence of labeled data, remains a…