相关论文: TransSC: Transformer-based Shape Completion for Gr…

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…

Given partial objects and some complete ones as references, point cloud completion aims to recover authentic shapes. However, existing methods pay little attention to general shapes, which leads to the poor authenticity of completion…

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…

Point-cloud data collected in real-world applications are often incomplete. Data is typically missing due to objects being observed from partial viewpoints, which only capture a specific perspective or angle. Additionally, data can be…

Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience,…

Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…

3D geometric shape completion hinges on representation learning and a deep understanding of geometric data. Without profound insights into the three-dimensional nature of the data, this task remains unattainable. Our work addresses this…

This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfamiliar shapes. Motivated by examples of improved transfer from…

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…

While previous studies have demonstrated successful 3D object shape completion with a sufficient number of points, they often fail in scenarios when a few points, e.g. tens of points, are observed. Surprisingly, via entropy analysis, we…

Point clouds are often sparse and incomplete, which imposes difficulties for real-world applications. Existing shape completion methods tend to generate rough shapes without fine-grained details. Considering this, we introduce a two-branch…

The verification of successful grasps is a crucial aspect of robot manipulation, particularly when handling deformable objects. Traditional methods relying on force and tactile sensors often struggle with deformable and non-rigid objects.…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Generating high-quality instance-wise grasp configurations provides critical information of how to grasp specific objects in a multi-object environment and is of high importance for robot manipulation tasks. This work proposed a novel…