相关论文: SynPick: A Dataset for Dynamic Bin Picking Scene U…

Bin-picking is a practical and challenging robotic manipulation task, where accurate 6D pose estimation plays a pivotal role. The workpieces in bin-picking are typically textureless and randomly stacked in a bin, which poses a significant…

Training data is the key ingredient for deep learning approaches, but difficult to obtain for the specialized domains often encountered in robotics. We describe a synthesis pipeline capable of producing training data for cluttered scene…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Recent advances in unsupervised learning for object detection, segmentation, and tracking hold significant promise for applications in robotics. A common approach is to frame these tasks as inference in probabilistic latent-variable models.…

This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…

The analysis of events in dynamic environments poses a fundamental challenge in the development of intelligent agents and robots capable of interacting with humans. Current approaches predominantly utilize visual models. However, these…

Recent advances in deep learning-based object detection techniques have revolutionized their applicability in several fields. However, since these methods rely on unwieldy and large amounts of data, a common practice is to download models…

Synthesizing natural human motion that adapts to complex environments while allowing creative control remains a fundamental challenge in motion synthesis. Existing models often fall short, either by assuming flat terrain or lacking the…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

Collective perception has received considerable attention as a promising approach to overcome occlusions and limited sensing ranges of vehicle-local perception in autonomous driving. In order to develop and test novel collective perception…

The World Robot Summit 2018 Assembly Challenge included four different tasks. The kitting task, which required bin-picking, was the task in which the fewest points were obtained. However, bin-picking is a vital skill that can significantly…

This work addresses a gap in semantic scene completion (SSC) data by creating a novel outdoor data set with accurate and complete dynamic scenes. Our data set is formed from randomly sampled views of the world at each time step, which…

In this paper, we propose an iterative self-training framework for sim-to-real 6D object pose estimation to facilitate cost-effective robotic grasping. Given a bin-picking scenario, we establish a photo-realistic simulator to synthesize…

For many fundamental scene understanding tasks, it is difficult or impossible to obtain per-pixel ground truth labels from real images. We address this challenge by introducing Hypersim, a photorealistic synthetic dataset for holistic…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization often fail to capture fine-grained dynamics, limiting their…

This paper addresses the problem of preference learning, which aims to align robot behaviors through learning user specific preferences (e.g. "good pull-over location") from visual demonstrations. Despite its similarity to learning factual…

This paper focuses on robotic picking tasks in cluttered scenario. Because of the diversity of poses, types of stack and complicated background in bin picking situation, it is much difficult to recognize and estimate their pose before…