相关论文: Double-Dot Network for Antipodal Grasp Detection

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…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

Scene-graph generation involves creating a structural representation of the relationships between objects in a scene by predicting subject-object-relation triplets from input data. Existing methods show poor performance in detecting…

Recently, Deep-Neural-Network (DNN) based edge prediction is progressing fast. Although the DNN based schemes outperform the traditional edge detectors, they have much higher computational complexity. It could be that the DNN based edge…

We propose a new learning-based method for estimating 2D human pose from a single image, using Dual-Source Deep Convolutional Neural Networks (DS-CNN). Recently, many methods have been developed to estimate human pose by using pose priors…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…

Intuitive user interfaces are indispensable to interact with the human centric smart environments. In this paper, we propose a unified framework that recognizes both static and dynamic gestures, using simple RGB vision (without depth…

Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method…

We present Deep Mesh Denoising Network (DMD-Net), an end-to-end deep learning framework, for solving the mesh denoising problem. DMD-Net consists of a Graph Convolutional Neural Network in which aggregation is performed in both the primal…

This paper proposes a new deep neural network for object detection. The proposed network, termed ASSD, builds feature relations in the spatial space of the feature map. With the global relation information, ASSD learns to highlight useful…

Feature pyramid architecture has been broadly adopted in object detection and segmentation to deal with multi-scale problem. However, in this paper we show that the capacity of the architecture has not been fully explored due to the…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

Recent studies have shown that deep learning models are vulnerable to specifically crafted adversarial inputs that are quasi-imperceptible to humans. In this letter, we propose a novel method to detect adversarial inputs, by augmenting the…

6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping…

Deep neural networks (DNNs), while increasingly deployed in many applications, struggle with robustness against anomalous and out-of-distribution (OOD) data. Current OOD benchmarks often oversimplify, focusing on single-object tasks and not…

Anchor-based detectors have been continuously developed for object detection. However, the individual anchor box makes it difficult to predict the boundary's offset accurately. Instead of taking each bounding box as a closed individual, we…

Change detection (CD) is an essential earth observation technique. It captures the dynamic information of land objects. With the rise of deep learning, convolutional neural networks (CNN) have shown great potential in CD. However, current…

Dual-arm robotic grasping is crucial for handling large objects that require stable and coordinated manipulation. While single-arm grasping has been extensively studied, datasets tailored for dual-arm settings remain scarce. We introduce a…

We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…