相关论文: Object Detection Using Sim2Real Domain Randomizati…

Deep Learning (DL) based methods for object detection achieve remarkable performance at the cost of computationally expensive training and extensive data labeling. Robots embodiment can be exploited to mitigate this burden by acquiring…

Deep learning methods typically require vast amounts of training data to reach their full potential. While some publicly available datasets exists, domain specific data always needs to be collected and manually labeled, an expensive, time…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

While object semantic understanding is essential for most service robotic tasks, 3D object classification is still an open problem. Learning from artificial 3D models alleviates the cost of annotation necessary to approach this problem, but…

On robotics computer vision tasks, generating and annotating large amounts of data from real-world for the use of deep learning-based approaches is often difficult or even impossible. A common strategy for solving this problem is to apply…

The need for large annotated image datasets for training Convolutional Neural Networks (CNNs) has been a significant impediment for their adoption in computer vision applications. We show that with transfer learning an effective object…

We propose a domain adaptation approach for object detection. We introduce a two-step method: the first step makes the detector robust to low-level differences and the second step adapts the classifiers to changes in the high-level…

This paper presents a generalized model for real-time detection of flying objects that can be used for transfer learning and further research, as well as a refined model that achieves state-of-the-art results for flying object detection. We…

Robotic grasping refers to making a robotic system pick an object by applying forces and torques on its surface. Many recent studies use data-driven approaches to address grasping, but the sparse reward nature of this task made the learning…

Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on the real robot. However, some artefacts in the real objects…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…

Reducing the burden of data generation and annotation remains a major challenge for the cost-effective deployment of machine learning in industrial and robotics settings. While synthetic rendering is a promising solution, bridging the…

Training a deep network to perform semantic segmentation requires large amounts of labeled data. To alleviate the manual effort of annotating real images, researchers have investigated the use of synthetic data, which can be labeled…

The expanding applications, utilized by more users, enhance hardware performance and further develop cloud systems for big data processing. This leads to numerous unexplored deep learning applications, especially in advanced computer vision…

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…

Eye image segmentation is a critical step in eye tracking that has great influence over the final gaze estimate. Segmentation models trained using supervised machine learning can excel at this task, their effectiveness is determined by the…

We present Sym2Real, a fully data-driven framework that provides a principled way to train low-level adaptive controllers in a highly data-efficient manner. Using only about 10 trajectories, we achieve robust control of both a quadrotor and…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…