相关论文: Simultaneous Object Reconstruction and Grasp Predi…

Robotic grasping detection is one of the most important fields in robotics, in which great progress has been made recent years with the help of convolutional neural network (CNN). However, including multiple objects in one scene can…

In this paper, we aim to reconstruct a full 3D human shape from a single image. Previous vertex-level and parameter regression approaches reconstruct 3D human shape based on a pre-defined adjacency matrix to encode positive relations…

The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

Robotic grasping from single-view observations remains a critical challenge in manipulation. However, existing methods still struggle to generate reliable grasp candidates and stably evaluate grasp feasibility under incomplete geometric…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…

We present HOReeNet, which tackles the novel task of manipulating images involving hands, objects, and their interactions. Especially, we are interested in transferring objects of source images to target images and manipulating 3D hand…

Any solid object can be decomposed into a collection of convex polytopes (in short, convexes). When a small number of convexes are used, such a decomposition can be thought of as a piece-wise approximation of the geometry. This…

Operating effectively in novel real-world environments requires robotic systems to estimate and interact with previously unseen objects. Current state-of-the-art models address this challenge by using large amounts of training data and…

Recent work has shown that object-centric representations can greatly help improve the accuracy of learning dynamics while also bringing interpretability. In this work, we take this idea one step further, ask the following question: "can…

When solving a segmentation task, shaped-base methods can be beneficial compared to pixelwise classification due to geometric understanding of the target object as shape, preventing the generation of anatomical implausible predictions in…

Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for…

State-of-the-art machine-learning methods for event cameras treat events as dense representations and process them with conventional deep neural networks. Thus, they fail to maintain the sparsity and asynchronous nature of event data,…

Visual relocalization aims to estimate the pose of a camera from one or more images. In recent years deep learning based pose regression methods have attracted many attentions. They feature predicting the absolute poses without relying on…

This paper proposes to go beyond the state-of-the-art deep convolutional neural network (CNN) by incorporating the information from object detection, focusing on dealing with fine-grained image classification. Unfortunately, CNN suffers…

3D meshes are a fundamental representation widely used in computer science and engineering. In robotics, they are particularly valuable because they capture objects in a form that aligns directly with how robots interact with the physical…

Most of the recent deep learning-based 3D human pose and mesh estimation methods regress the pose and shape parameters of human mesh models, such as SMPL and MANO, from an input image. The first weakness of these methods is an appearance…

In this paper, we propose a novel representation for grasping using contacts between multi-finger robotic hands and objects to be manipulated. This representation significantly reduces the prediction dimensions and accelerates the learning…

We introduce Neural Deformation Graphs for globally-consistent deformation tracking and 3D reconstruction of non-rigid objects. Specifically, we implicitly model a deformation graph via a deep neural network. This neural deformation graph…