相关论文: Multimodal Zero-Shot Learning for Tactile Texture …

Language-enabled robots have been widely studied over the past years to enable natural human-robot interaction and teaming in various real-world applications. Language-enabled robots must be able to comprehend referring expressions to…

Zero-shot learning is a learning regime that recognizes unseen classes by generalizing the visual-semantic relationship learned from the seen classes. To obtain an effective ZSL model, one may resort to curating training samples from…

This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…

Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…

Zero-shot Learning (ZSL) aims to enable classifiers to identify unseen classes. This is typically achieved by generating visual features for unseen classes based on learned visual-semantic correlations from seen classes. However, most…

Recently, many zero-shot learning (ZSL) methods focused on learning discriminative object features in an embedding feature space, however, the distributions of the unseen-class features learned by these methods are prone to be partly…

Zero-shot learning (ZSL) aims to transfer knowledge from seen classes to semantically related unseen classes, which are absent during training. The promising strategies for ZSL are to synthesize visual features of unseen classes conditioned…

Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In…

Zero-shot classification of image scenes which can recognize the image scenes that are not seen in the training stage holds great promise of lowering the dependence on large numbers of labeled samples. To address the zero-shot image scene…

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…

The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…

High-resolution tactile sensors have become critical for embodied perception and robotic manipulation. However, a key challenge in the field is the lack of transferability between sensors due to design and manufacturing variations, which…

Zero-shot Learners are models capable of predicting unseen classes. In this work, we propose a Zero-shot Learning approach for text categorization. Our method involves training model on a large corpus of sentences to learn the relationship…

Compositional Zero-Shot Learning (CZSL) is a critical task in computer vision that enables models to recognize unseen combinations of known attributes and objects during inference, addressing the combinatorial challenge of requiring…

Zero-shot learning (ZSL) aims to recognize unseen classes based on the knowledge of seen classes. Previous methods focused on learning direct embeddings from global features to the semantic space in hope of knowledge transfer from seen…

To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…

Zero-shot learning (ZSL) aims to recognize novel classes by transferring semantic knowledge from seen classes to unseen classes. Since semantic knowledge is built on attributes shared between different classes, which are highly local,…

Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…

Multi-label zero-shot learning (ZSL) is a more realistic counter-part of standard single-label ZSL since several objects can co-exist in a natural image. However, the occurrence of multiple objects complicates the reasoning and requires…

This paper introduces a novel framework for zero-shot learning (ZSL), i.e., to recognize new categories that are unseen during training, by using a multi-model and multi-alignment integration method. Specifically, we propose three…