相关论文: Learning Keypoints from Synthetic Data for Robotic…

Convolutional Neural Networks (CNNs) are widely used for image classification in a variety of fields, including medical imaging. While most studies deploy cross-entropy as the loss function in such tasks, a growing number of approaches have…

Features play a crucial role in computer vision. Initially designed to detect salient elements by means of handcrafted algorithms, features are now often learned by different layers in Convolutional Neural Networks (CNNs). This paper…

Delicate cloth simulations have long been desired in computer graphics. Various methods were proposed to improve engaged force interactions, collision handling, and numerical integrations. Deep learning has the potential to achieve fast and…

Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…

Fine-grained categorization can benefit from part-based features which reveal subtle visual differences between object categories. Handcrafted features have been widely used for part detection and classification. Although a recent trend…

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…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

We propose a novel deep convolutional neural network (CNN) based multi-task learning approach for open-set visual recognition. We combine a classifier network and a decoder network with a shared feature extractor network within a multi-task…

Automatic defect detection is a challenging task because of the variability in texture and type of fabric defects. An effective defect detection system enables manufacturers to improve the quality of processes and products. Automation…

This paper introduces a novel feature detector based only on information embedded inside a CNN trained on standard tasks (e.g. classification). While previous works already show that the features of a trained CNN are suitable descriptors,…

Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…

Deploying trained convolutional neural networks (CNNs) to mobile devices is a challenging task because of the simultaneous requirements of the deployed model to be fast, lightweight and accurate. Designing and training a CNN architecture…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Tolerance to image variations (e.g. translation, scale, pose, illumination) is an important desired property of any object recognition system, be it human or machine. Moving towards increasingly bigger datasets has been trending in computer…

Nowadays, deep learning can be employed to a wide ranges of fields including medicine, engineering, etc. In deep learning, Convolutional Neural Network (CNN) is extensively used in the pattern and sequence recognition, video analysis,…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

Sequential multi-step cloth manipulation is a challenging problem in robotic manipulation, requiring a robot to perceive the cloth state and plan a sequence of chained actions leading to the desired state. Most previous works address this…

Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…

Convolutional Neural Networks (CNNs) achieve state-of-the-art performance in many computer vision tasks. However, this achievement is preceded by extreme manual annotation in order to perform either training from scratch or fine-tuning for…

The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomously identify grasping locations by using information from…