相关论文: Meta-Learning Regrasping Strategies for Physical-A…

Adaptive control achieves concurrent parameter learning and stable control under uncertainties that are linearly parameterized with known nonlinear features. Nonetheless, it is often difficult to obtain such nonlinear features. To address…

Material classification in natural settings is a challenge due to complex interplay of geometry, reflectance properties, and illumination. Previous work on material classification relies strongly on hand-engineered features of visual…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

Learned local descriptors based on Convolutional Neural Networks (CNNs) have achieved significant improvements on patch-based benchmarks, whereas not having demonstrated strong generalization ability on recent benchmarks of image-based 3D…

Reinforcement learning is a promising method for robotic grasping as it can learn effective reaching and grasping policies in difficult scenarios. However, achieving human-like manipulation capabilities with sophisticated robotic hands is…

The process of decomposing target images into their internal properties is a difficult task due to the inherent ill-posed nature of the problem. The lack of data required to train a network is a one of the reasons why the decomposing…

Automated driving object detection has always been a challenging task in computer vision due to environmental uncertainties. These uncertainties include significant differences in object sizes and encountering the class unseen. It may…

Convolutional Neural Networks (CNNs) can provide accurate object classification. They can be extended to perform object detection by iterating over dense or selected proposed object regions. However, the runtime of such detectors scales as…

Graph matching aims to establish correspondences between vertices of graphs such that both the node and edge attributes agree. Various learning-based methods were recently proposed for finding correspondences between image key points based…

Utilizing task-invariant knowledge acquired from related tasks as prior information, meta-learning offers a principled approach to learning a new task with limited data records. Sample-efficient adaptation of this prior information is a…

To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…

Heterogeneous graph contrastive learning has received wide attention recently. Some existing methods use meta-paths, which are sequences of object types that capture semantic relationships between objects, to construct contrastive views.…

Meta-learning has emerged as an efficient approach for constructing target models based on support sets. For example, the meta-learned embeddings enable the construction of target nearest-neighbor classifiers for specific tasks by pulling…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

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…

Reprogrammable mechanical metamaterials, composed of a lattice of discretely adaptive elements, are emerging as a promising platform for mechanical intelligence. To operate in unknown environments, such structures must go beyond passive…

Deep-learning recently show great success across disciplines yet conventionally require time-consuming computer processing or bulky-sized diffractive elements. Here we theoretically propose and experimentally demonstrate a purely-passive…

Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping policies for arbitrary objects has proven challenging due to the…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…