相关论文: Learning Category-Level Manipulation Tasks from Po…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

Objects within a category are often similar in their shape and usage. When we---as humans---want to grasp something, we transfer our knowledge from past experiences and adapt it to novel objects. In this paper, we propose a new approach for…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

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…

Recognizing objects and scenes are two challenging but essential tasks in image understanding. In particular, the use of RGB-D sensors in handling these tasks has emerged as an important area of focus for better visual understanding.…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

We propose a novel video object segmentation algorithm based on pixel-level matching using Convolutional Neural Networks (CNN). Our network aims to distinguish the target area from the background on the basis of the pixel-level similarity…

Promising results have been achieved recently in category-level manipulation that generalizes across object instances. Nevertheless, it often requires expensive real-world data collection and manual specification of semantic keypoints for…

Models based on deep convolutional neural networks (CNN) have significantly improved the performance of semantic segmentation. However, learning these models requires a large amount of training images with pixel-level labels, which are very…

Learning on point cloud is eagerly in demand because the point cloud is a common type of geometric data and can aid robots to understand environments robustly. However, the point cloud is sparse, unstructured, and unordered, which cannot be…

Automated real-time prediction of the ergonomic risks of manipulating objects is a key unsolved challenge in developing effective human-robot collaboration systems for logistics and manufacturing applications. We present a foundational…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

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…

3D reconstruction from images is a core problem in computer vision. With recent advances in deep learning, it has become possible to recover plausible 3D shapes even from single RGB images for the first time. However, obtaining detailed…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

The ability to segment unknown objects in depth images has potential to enhance robot skills in grasping and object tracking. Recent computer vision research has demonstrated that Mask R-CNN can be trained to segment specific categories of…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…