相关论文: Hierarchical Graph Neural Networks for Propriocept…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the object geometry happens effortlessly because of the accumulated…

Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…

Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods…

We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…

To fully utilize the versatility of a multi-fingered dexterous robotic hand for executing diverse object grasps, one must consider the rich physical constraints introduced by hand-object interaction and object geometry. We propose an…

Searching for objects in indoor organized environments such as homes or offices is part of our everyday activities. When looking for a target object, we jointly reason about the rooms and containers the object is likely to be in; the same…

Graph neural networks (GNNs) based on message passing between neighboring nodes are known to be insufficient for capturing long-range interactions in graphs. In this project we study hierarchical message passing models that leverage a…

We present HARP, a novel method for learning low dimensional embeddings of a graph's nodes which preserves higher-order structural features. Our proposed method achieves this by compressing the input graph prior to embedding it, effectively…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…

We propose a method that leverages graph neural networks, multi-level message passing, and unsupervised training to enable real-time prediction of realistic clothing dynamics. Whereas existing methods based on linear blend skinning must be…

Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…