相关论文: Fast-Learning Grasping and Pre-Grasping via Clutte…

Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…

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…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…

Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…

Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose generation. However, they either overlooked the importance of…

This study addresses the problem of occluded grasping, where primary grasp configurations of an object are not available due to occlusion with environment. Simple parallel grippers often struggle with such tasks due to limited dexterity and…

Robust and human-like dexterous grasping of general objects is a critical capability for advancing intelligent robotic manipulation in real-world scenarios. However, existing reinforcement learning methods guided by grasp priors often…

Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still…

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous…

Extracting a known target object from a pile of other objects in a cluttered environment is a challenging robotic manipulation task encountered in many robotic applications. In such conditions, the target object touches or is covered by…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…

Learning-based approaches to grasp planning are preferred over analytical methods due to their ability to better generalize to new, partially observed objects. However, data collection remains one of the biggest bottlenecks for grasp…

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation…

A series of region-based methods succeed in extracting regional features and enhancing grasp detection quality. However, faced with a cluttered scene with potential collision, the definition of the grasp-relevant region stays inconsistent,…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…

A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…

Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…

Grasp detection in cluttered scenes is a very challenging task for robots. Generating synthetic grasping data is a popular way to train and test grasp methods, as is Dex-net and GraspNet; yet, these methods generate training grasps on 3D…