相关论文: Multi-Fingered In-Hand Manipulation with Various O…

Graph convolutional networks (GCNs) have achieved great success on graph-structured data. Many graph convolutional networks can be thought of as low-pass filters for graph signals. In this paper, we propose a more powerful graph…

Human action recognition from skeleton data, fueled by the Graph Convolutional Network (GCN), has attracted lots of attention, due to its powerful capability of modeling non-Euclidean structure data. However, many existing GCN methods…

Graphs, comprising nodes and edges, visually depict relationships and structures, posing challenges in extracting high-level features due to their intricate connections. Multiple connections introduce complexities in discovering patterns,…

Skeleton-based action recognition is a hotspot in image processing. A key challenge of this task lies in its dependence on large, manually labeled datasets whose acquisition is costly and time-consuming. This paper devises a novel,…

This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…

Graph Neural Networks (GNN) have emerged as a popular and standard approach for learning from graph-structured data. The literature on GNN highlights the potential of this evolving research area and its widespread adoption in real-life…

In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…

Graph Convolutional Networks (GCNs) have been extensively used to classify vertices in graphs and have been shown to outperform other vertex classification methods. GCNs have been extended to graph classification tasks (GCT). In GCT, graphs…

Devising and analyzing learning models for spatiotemporal network data is of importance for tasks including forecasting, anomaly detection, and multi-agent coordination, among others. Graph Convolutional Neural Networks (GCNNs) are an…

This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

Short-term passenger flow forecasting is a crucial task for urban rail transit operations. Emerging deep-learning technologies have become effective methods used to overcome this problem. In this study, the authors propose a deep-learning…

Compared to sequential learning models, graph-based neural networks exhibit excellent ability in capturing global information and have been used for semi-supervised learning tasks. Most Graph Convolutional Networks are designed with the…

Due to a huge volume of information in many domains, the need for classification methods is imperious. In spite of many advances, most of the approaches require a large amount of labeled data, which is often not available, due to costs and…

The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions.…

Graph convolutional networks (GCNs) have been employed as a kind of significant tool on many graph-based applications recently. Inspired by convolutional neural networks (CNNs), GCNs generate the embeddings of nodes by aggregating the…

Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key problems: (1) distributing forces across…

We study the problem of end-to-end learning from complex multigraphs with potentially very large numbers of edges between two vertices, each edge labeled with rich information. Examples range from communication networks to flights between…

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…

This paper presents new designs of graph convolutional neural networks (GCNs) on 3D meshes for 3D object segmentation and classification. We use the faces of the mesh as basic processing units and represent a 3D mesh as a graph where each…