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

In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

The gesture recognition using motion capture data and depth sensors has recently drawn more attention in vision recognition. Currently most systems only classify dataset with a couple of dozens different actions. Moreover, feature…

We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

Conventional radar segmentation research has typically focused on learning category labels for different moving objects. Although fundamental differences between radar and optical sensors lead to differences in the reliability of predicting…

Object detection is a fundamental task in computer vision and image understanding, with the goal of identifying and localizing objects of interest within an image while assigning them corresponding class labels. Traditional methods, which…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

Understanding manipulation scenarios allows intelligent robots to plan for appropriate actions to complete a manipulation task successfully. It is essential for intelligent robots to semantically interpret manipulation knowledge by…

Detecting and segmenting individual objects, regardless of their category, is crucial for many applications such as action detection or robotic interaction. While this problem has been well-studied under the classic formulation of…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

Learning actions from human demonstration is an emerging trend for designing intelligent robotic systems, which can be referred as video to command. The performance of such approach highly relies on the quality of video captioning. However,…

We present a new method to translate videos to commands for robotic manipulation using Deep Recurrent Neural Networks (RNN). Our framework first extracts deep features from the input video frames with a deep Convolutional Neural Networks…

Category-level articulated object pose estimation aims to estimate a hierarchy of articulation-aware object poses of an unseen articulated object from a known category. To reduce the heavy annotations needed for supervised learning methods,…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

A key challenge in robot teaching is grasp-type recognition with a single RGB image and a target object name. Here, we propose a simple yet effective pipeline to enhance learning-based recognition by leveraging a prior distribution of grasp…

Image segmentation is a fundamental and challenging problem in computer vision with applications spanning multiple areas, such as medical imaging, remote sensing, and autonomous vehicles. Recently, convolutional neural networks (CNNs) have…

While robots can learn models to solve many manipulation tasks from raw visual input, they cannot usually use these models to solve new problems. On the other hand, symbolic planning methods such as STRIPS have long been able to solve new…

Scene understanding plays an important role in several high-level computer vision applications, such as autonomous vehicles, intelligent video surveillance, or robotics. However, too few solutions have been proposed for indoor/outdoor scene…