相关论文: Learning Sim-to-Real Dense Object Descriptors for …

This paper presents a novel structured knowledge representation called the functional object-oriented network (FOON) to model the connectivity of the functional-related objects and their motions in manipulation tasks. The graphical model…

Similarity learning has been recognized as a crucial step for object tracking. However, existing multiple object tracking methods only use sparse ground truth matching as the training objective, while ignoring the majority of the…

Image restoration algorithms such as super resolution (SR) are indispensable pre-processing modules for object detection in degraded images. However, most of these algorithms assume the degradation is fixed and known a priori. When the real…

If a robot is supposed to roam an environment and interact with objects, it is often necessary to know all possible objects in advance, so that a database with models of all objects can be generated for visual identification. However, this…

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

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…

As researchers teach robots to perform more and more complex tasks, the need for realistic simulation environments is growing. Existing techniques for closing the reality gap by approximating real-world physics often require extensive real…

Inferring high-dimensional physical states from sparse, ad-hoc sensor arrays is a fundamental challenge across AI for Science and industrial IoT. Standard machine learning architectures struggle in these domains due to irregular,…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…

Sim-to-real transfer is a fundamental challenge in robot reinforcement learning. Discrepancies between simulation and reality can significantly impair policy performance, especially if it receives high-dimensional inputs such as dense depth…

Testing autonomous robotic manipulators is challenging due to the complex software interactions between vision and control components. A crucial element of modern robotic manipulators is the deep learning based object detection model. The…

Inspired by the conclusion that humans choose the visual cortex regions corresponding to the real size of an object to analyze its features when identifying objects in the real world, this paper presents a framework, SizeNet, which is based…

As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…

In this paper, we describe a strategy for training neural networks for object detection in range images obtained from one type of LiDAR sensor using labeled data from a different type of LiDAR sensor. Additionally, an efficient model for…

Good pre-trained visual representations could enable robots to learn visuomotor policy efficiently. Still, existing representations take a one-size-fits-all-tasks approach that comes with two important drawbacks: (1) Being completely…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

We define the object detection from imagery problem as estimating a very large but extremely sparse bounding box dependent probability distribution. Subsequently we identify a sparse distribution estimation scheme, Directed Sparse Sampling,…

Due to object detection's close relationship with video analysis and image understanding, it has attracted much research attention in recent years. Traditional object detection methods are built on handcrafted features and shallow trainable…

Dense prediction tasks hold significant importance of computer vision, aiming to learn pixel-wise annotated labels for input images. Despite advances in this field, existing methods primarily focus on idealized conditions, exhibiting…