相关论文: Self-Supervised Instance Segmentation by Grasping

Video Instance Segmentation is a fundamental computer vision task that deals with segmenting and tracking object instances across a video sequence. Most existing methods typically accomplish this task by employing a multi-stage top-down…

Unsupervised instance segmentation aims to segment distinct object instances in an image without relying on human-labeled data. This field has recently seen significant advancements, partly due to the strong local correspondences afforded…

An instance with a bad mask might make a composite image that uses it look fake. This encourages us to learn segmentation by generating realistic composite images. To achieve this, we propose a novel framework that exploits a new proposed…

In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…

Generating high-quality instance-wise grasp configurations provides critical information of how to grasp specific objects in a multi-object environment and is of high importance for robot manipulation tasks. This work proposed a novel…

We present a robotic system for picking a target from a pile of objects that is capable of finding and grasping the target object by removing obstacles in the appropriate order. The fundamental idea is to segment instances with both visible…

Instance segmentation is an active topic in computer vision that is usually solved by using supervised learning approaches over very large datasets composed of object level masks. Obtaining such a dataset for any new domain can be very…

The ability to segment unknown objects in cluttered scenes has a profound impact on robot grasping. The rise of deep learning has greatly transformed the pipeline of robotic grasping from model-based approach to data-driven stream, which…

With more and more household objects built on planned obsolescence and consumed by a fast-growing population, hazardous waste recycling has become a critical challenge. Given the large variability of household waste, current recycling…

Semantic segmentation and object detection research have recently achieved rapid progress. However, the former task has no notion of different instances of the same object, and the latter operates at a coarse, bounding-box level. We propose…

We propose a method for unsupervised video object segmentation by transferring the knowledge encapsulated in image-based instance embedding networks. The instance embedding network produces an embedding vector for each pixel that enables…

Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such…

The reliability of grasp detection for target objects in complex scenes is a challenging task and a critical problem that needs to be solved urgently in practical application. At present, the grasp detection location comes from searching…

Object detection or localization is an incremental step in progression from coarse to fine digital image inference. It not only provides the classes of the image objects, but also provides the location of the image objects which have been…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

This paper introduces a novel approach to learning instance segmentation using extreme points, i.e., the topmost, leftmost, bottommost, and rightmost points, of each object. These points are readily available in the modern bounding box…

Recent advances in unsupervised learning for object detection, segmentation, and tracking hold significant promise for applications in robotics. A common approach is to frame these tasks as inference in probabilistic latent-variable models.…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

Instance segmentation methods often require costly per-pixel labels. We propose a method that only requires point-level annotations. During training, the model only has access to a single pixel label per object, yet the task is to output…