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

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

In this paper we propose an end-to-end learnable approach that detects static urban objects from multiple views, re-identifies instances, and finally assigns a geographic position per object. Our method relies on a Graph Neural Network…

The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…

This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves…

Self-supervised detection and segmentation of foreground objects aims for accuracy without annotated training data. However, existing approaches predominantly rely on restrictive assumptions on appearance and motion. For scenes with dynamic…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

Camouflaged object detection (COD) aims to segment objects visually embedded in their surroundings, which is a very challenging task due to the high similarity between the objects and the background. To address it, most methods often…

Attaching attributes (such as color, shape, state, action) to object categories is an important computer vision problem. Attribute prediction has seen exciting recent progress and is often formulated as a multi-label classification problem.…

Humans can determine a proper strategy to grasp an object according to the measured physical attributes or the prior knowledge of the object. This paper proposes an approach to determining the strategy of dexterous grasping by using an…

Mesh models are a promising approach for encoding the structure of 3D objects. Current mesh reconstruction systems predict uniformly distributed vertex locations of a predetermined graph through a series of graph convolutions, leading to…

A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…

Learning data-efficient object dynamics models for robotic manipulation remains challenging, especially for deformable objects. A popular approach is to model objects as sets of 3D particles and learn their motion using graph neural…

Scalable and generalizable physics-aware deep learning has long been considered a significant challenge with various applications across diverse domains ranging from robotics to molecular dynamics. Central to almost all physical systems are…

The key task of machine learning is to minimize the loss function that measures the model fit to the training data. The numerical methods to do this efficiently depend on the properties of the loss function. The most decisive among these…

We develop a model of perceptual similarity judgment based on re-training a deep convolution neural network (DCNN) that learns to associate different views of each 3D object to capture the notion of object persistence and continuity in our…

Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…

Meta-learning has been widely used for implementing few-shot learning and fast model adaptation. One kind of meta-learning methods attempt to learn how to control the gradient descent process in order to make the gradient-based learning…

Incorporating encoding-decoding nets with adversarial nets has been widely adopted in image generation tasks. We observe that the state-of-the-art achievements were obtained by carefully balancing the reconstruction loss and adversarial…

This paper presents Contrastive Reconstruction, ConRec - a self-supervised learning algorithm that obtains image representations by jointly optimizing a contrastive and a self-reconstruction loss. We showcase that state-of-the-art…

Neural ODE Processes approach the problem of meta-learning for dynamics using a latent variable model, which permits a flexible aggregation of contextual information. This flexibility is inherited from the Neural Process framework and…