相关论文: Learn to Grasp with Less Supervision: A Data-Effic…

In machine learning, one must acquire labels to help supervise a model that will be able to generalize to unseen data. However, the labeling process can be tedious, long, costly, and error-prone. It is often the case that most of our data…

Deep latent generative models have attracted increasing attention due to the capacity of combining the strengths of deep learning and probabilistic models in an elegant way. The data representations learned with the models are often…

Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

In the literature, most existing graph-based semi-supervised learning (SSL) methods only use the label information of observed samples in the label propagation stage, while ignoring such valuable information when learning the graph. In this…

Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this…

In warehouse environments, robots require robust picking capabilities to manage a wide variety of objects. Effective deployment demands minimal hardware, strong generalization to new products, and resilience in diverse settings. Current…

Different manipulation tasks require different types of grasps. For example, holding a heavy tool like a hammer requires a multi-fingered power grasp offering stability, while holding a pen to write requires a multi-fingered precision grasp…

Noisy labels are ubiquitous in real-world datasets, especially in the large-scale ones derived from crowdsourcing and web searching. It is challenging to train deep neural networks with noisy datasets since the networks are prone to…

Reducing the amount of labels required to train convolutional neural networks without performance degradation is key to effectively reduce human annotation efforts. We propose Reliable Label Bootstrapping (ReLaB), an unsupervised…

In learning with noisy labels, the sample selection approach is very popular, which regards small-loss data as correctly labeled during training. However, losses are generated on-the-fly based on the model being trained with noisy labels,…

Semi-supervised semantic segmentation relieves the reliance on large-scale labeled data by leveraging unlabeled data. Recent semi-supervised semantic segmentation approaches mainly resort to pseudo-labeling methods to exploit unlabeled…

Deep Learning (DL) based methods for object detection achieve remarkable performance at the cost of computationally expensive training and extensive data labeling. Robots embodiment can be exploited to mitigate this burden by acquiring…

The performance of a machine learning system is usually evaluated by using i.i.d.\ observations with true labels. However, acquiring ground truth labels is expensive, while obtaining unlabeled samples may be cheaper. Stratified sampling can…

Developing generalizable models that can effectively learn from limited data and with minimal reliance on human supervision is a significant objective within the machine learning community, particularly in the era of deep neural networks.…

In many real-world tasks, particularly those involving data objects with complicated semantics such as images and texts, one object can be represented by multiple instances and simultaneously be associated with multiple labels. Such tasks…

In recent years, semi-supervised learning (SSL) has gained significant attention due to its ability to leverage both labeled and unlabeled data to improve model performance, especially when labeled data is scarce. However, most current SSL…

Current state-of-the-art deep learning systems for visual object recognition and detection use purely supervised training with regularization such as dropout to avoid overfitting. The performance depends critically on the amount of labeled…

We propose a novel sample selection method for image classification in the presence of noisy labels. Existing methods typically consider small-loss samples as correctly labeled. However, some correctly labeled samples are inherently…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…