相关论文: Real-World Semantic Grasp Detection Based on Atten…

We propose a novel hand-object contact detection system based on grasp quality metrics extracted from object and hand poses, and evaluated its performance using the DexYCB dataset. Our evaluation demonstrated the system's high accuracy…

A key challenge in robot teaching is grasp-type recognition with a single RGB image and a target object name. Here, we propose a simple yet effective pipeline to enhance learning-based recognition by leveraging a prior distribution of grasp…

There are many limitations applying object detection algorithm on various environments. Especially detecting small objects is still challenging because they have low resolution and limited information. We propose an object detection method…

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…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

This paper presents a novel keypoints-based attention mechanism for visual recognition in still images. Deep Convolutional Neural Networks (CNNs) for recognizing images with distinctive classes have shown great success, but their…

Since the study of deep convolutional neural network became prevalent, one of the important discoveries is that a feature map from a convolutional network can be extracted before going into the fully connected layer and can be used as a…

Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…

Efficient and robust grasp pose detection is vital for robotic manipulation. For general 6 DoF grasping, conventional methods treat all points in a scene equally and usually adopt uniform sampling to select grasp candidates. However, we…

The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection.…

In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…

Grasp detection of novel objects in unstructured environments is a key capability in robotic manipulation. For 2D grasp detection problems where grasps are assumed to lie in the plane, it is common to design a fully convolutional neural…

Contemporary grasp detection approaches employ deep learning to achieve robustness to sensor and object model uncertainty. The two dominant approaches design either grasp-quality scoring or anchor-based grasp recognition networks. This…

Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex…

We propose augmenting deep neural networks with an attention mechanism for the visual object detection task. As perceiving a scene, humans have the capability of multiple fixation points, each attended to scene content at different…

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…

We propose a novel recurrent attentional structure to localize and recognize objects jointly. The network can learn to extract a sequence of local observations with detailed appearance and rough context, instead of sliding windows or…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

In this paper, we present a real-time approach to predict multiple grasping poses for a parallel-plate robotic gripper using RGB images. A model with oriented anchor box mechanism is proposed and a new matching strategy is used during the…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…