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We propose an approach to multi-modal grasp detection that jointly predicts the probabilities that several types of grasps succeed at a given grasp pose. Given a partial point cloud of a scene, the algorithm proposes a set of feasible grasp…

Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…

Man-made objects usually exhibit descriptive curved features (i.e., curve networks). The curve network of an object conveys its high-level geometric and topological structure. We present a framework for extracting feature curve networks…

Point clouds acquired by 3D scanning devices are often sparse, noisy, and non-uniform, causing a loss of geometric features. To facilitate the usability of point clouds in downstream applications, given such input, we present a…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

The ability to grasp objects is an essential skill that enables many robotic manipulation tasks. Recent works have studied point cloud-based methods for object grasping by starting from simulated datasets and have shown promising…

The rise of deep learning has greatly transformed the pipeline of robotic grasping from model-based approach to data-driven stream. Along this line, a large scale of grasping data either collected from simulation or from real world examples…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

We propose a novel 3D segmentation method for RBGD stream data to deal with 3D object segmentation task in a generic scenario with frequent object interactions. It mainly contributes in two aspects, while being generic and not requiring…

The growing adoption of robotics and augmented reality in real-world applications has driven considerable research interest in 3D object detection based on point clouds. While previous methods address unified training across multiple…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

Segmentation of three-dimensional (3D) point clouds is an important task for autonomous systems. However, success of segmentation algorithms depends greatly on the quality of the underlying point clouds (resolution, completeness etc.). In…

Topology matters. Despite the recent success of point cloud processing with geometric deep learning, it remains arduous to capture the complex topologies of point cloud data with a learning model. Given a point cloud dataset containing…

The design of a tiny machine learning model, which can be deployed in mobile and edge devices, for point cloud object classification is investigated in this work. To achieve this objective, we replace the multi-scale representation of a…

3D Point clouds are a rich source of information that enjoy growing popularity in the vision community. However, due to the sparsity of their representation, learning models based on large point clouds is still a challenge. In this work, we…

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…

There is a growing number of tasks that work directly on point clouds. As the size of the point cloud grows, so do the computational demands of these tasks. A possible solution is to sample the point cloud first. Classic sampling…

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…

We propose a generative adversarial network for point cloud upsampling, which can not only make the upsampled points evenly distributed on the underlying surface but also efficiently generate clean high frequency regions. The generator of…

In this work, we present a geometry-based grasping algorithm that is capable of efficiently generating both top and side grasps for unknown objects, using a single view RGB-D camera, and of selecting the most promising one. We demonstrate…