相关论文: Research Challenges and Progress in Robotic Graspi…
Robotic Grasping has always been an active topic in robotics since grasping is one of the fundamental but most challenging skills of robots. It demands the coordination of robotic perception, planning, and control for robustness and…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter focuses on in-grasp object movement, which refers to…
Grasp learning has become an exciting and important topic in robotics. Just a few years ago, the problem of grasping novel objects from unstructured piles of clutter was considered a serious research challenge. Now, it is a capability that…
Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…
Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…
We present a benchmarking study of vision-based robotic grasping algorithms with distinct approaches, and provide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing…
This paper reports the activities and outcomes in the Workshop on Grasping and Manipulation Datasets that was organized under the International Conference on Robotics and Automation (ICRA) 2016. The half day workshop was packed with nine…
Scientific competitions are crucial in the field of service robotics. They foster knowledge exchange and benchmarking, allowing teams to test their research in unstandardized scenarios. In this paper, we summarize the trending solutions and…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
One of the biggest hurdles robotics faces is the facet of sophisticated and hard-to-engineer behaviors. Reinforcement learning offers a set of tools, and a framework to address this problem. In parallel, the misgivings of robotics offer a…
This report describes our winning submission to the Real Robot Challenge (https://real-robot-challenge.com/). The Real Robot Challenge is a three-phase dexterous manipulation competition that involves manipulating various rectangular…
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, specifically table organization tasks. We provide a set of…
We present a benchmarking study of vision-based robotic grasping algorithms and provide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing benchmarking protocol from…
Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…
This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form and force closure are discussed. Next, we present an overview…
Current robotic manipulation requires reliable methods to predict whether a certain grasp on an object will be successful or not prior to its execution. Different methods and metrics have been developed for this purpose but there is still…
Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we propose a method to benchmark metrics of robotic…
The past decade has witnessed the tremendous successes of machine learning techniques in the supervised learning paradigm, where there is a clear demarcation between training and testing. In the supervised learning paradigm, learning is…