相关论文: GoNet: An Approach-Constrained Generative Grasp Sa…

How can we subsample graph data so that a graph neural network (GNN) trained on the subsample achieves performance comparable to training on the full dataset? This question is of fundamental interest, as smaller datasets reduce labeling…

Generalising robotic grasping to previously unseen objects is a key task in general robotic manipulation. The current method for training many antipodal generative grasping models rely on a binary ground truth grasp map generated from the…

Recent advances in geometric deep-learning introduce complex computational challenges for evaluating the distance between meshes. From a mesh model, point clouds are necessary along with a robust distance metric to assess surface quality or…

Processing large point clouds is a challenging task. Therefore, the data is often downsampled to a smaller size such that it can be stored, transmitted and processed more efficiently without incurring significant performance degradation.…

Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for…

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…

Designing spectral convolutional networks is a formidable task in graph learning. In traditional spectral graph neural networks (GNNs), polynomial-based methods are commonly used to design filters via the Laplacian matrix. In practical…

The popularisation of acquisition devices capable of capturing volumetric information such as LiDAR scans and depth cameras has lead to an increased interest in point clouds as an imaging modality. Due to the high amount of data needed for…

Recent salient object detection (SOD) models predominantly rely on heavyweight backbones, incurring substantial computational cost and hindering their practical application in various real-world settings, particularly on edge devices. This…

End-to-end self-supervised models have been proposed for estimating the success of future candidate grasps and video predictive models for generating future observations. However, none have yet studied these two strategies side-by-side for…

Our way of grasping objects is challenging for efficient, intelligent and optimal grasp by COBOTs. To streamline the process, here we use deep learning techniques to help robots learn to generate and execute appropriate grasps quickly. We…

Generative Adversarial Networks (GANs) have proven to exhibit remarkable performance and are widely used across many generative computer vision applications. However, the unprecedented demand for the deployment of GANs on…

To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…

Node classification is an important research topic in graph learning. Graph neural networks (GNNs) have achieved state-of-the-art performance of node classification. However, existing GNNs address the problem where node samples for…

Set-based learning is an essential component of modern deep learning and network science. Graph Neural Networks (GNNs) and their edge-free counterparts Deepsets have proven remarkably useful on ragged and topologically challenging datasets.…

Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets to learn to grasp unknown objects. However, those datasets…

The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…

Data-driven generative modeling has made remarkable progress by leveraging the power of deep neural networks. A reoccurring challenge is how to enable a model to generate a rich variety of samples from the entire target distribution, rather…

Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates…

Point cloud sampling plays a crucial role in reducing computation costs and storage requirements for various vision tasks. Traditional sampling methods, such as farthest point sampling, lack task-specific information and, as a result,…