相关论文: Domain Randomization for Sim2real Transfer of Auto…

Recent trends in robot arm control have seen a shift towards end-to-end solutions, using deep reinforcement learning to learn a controller directly from raw sensor data, rather than relying on a hand-crafted, modular pipeline. However, the…

To tackle the "reality gap" encountered in Sim-to-Real transfer, this study proposes a diffusion-based framework that minimizes inconsistencies in grasping actions between the simulation settings and realistic environments. The process…

In this paper, we introduce a novel learning-based approach for grasping known rigid objects in highly cluttered scenes and precisely placing them based on depth images. Our Placement Quality Network (PQ-Net) estimates the object pose and…

Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tunable parameters from the start of the training, from which…

Multi-finger grasping relies on high quality training data, which is hard to obtain: human data is hard to transfer and synthetic data relies on simplifying assumptions that reduce grasp quality. By making grasp simulation differentiable,…

In recent years, domain randomization over dynamics parameters has gained a lot of traction as a method for sim-to-real transfer of reinforcement learning policies in robotic manipulation; however, finding optimal randomization…

This study uses domain randomization to generate a synthetic RGB-D dataset for training multimodal instance segmentation models, aiming to achieve colour-agnostic hand localization in cluttered industrial environments. Domain randomization…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible…

Leveraging human grasping skills to teach a robot to perform a manipulation task is appealing, but there are several limitations to this approach: time-inefficient data capture procedures, limited generalization of the data to other grasps…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

Current learning-based robot grasping approaches exploit human-labeled datasets for training the models. However, there are two problems with such a methodology: (a) since each object can be grasped in multiple ways, manually labeling grasp…

We introduce a large-scale dataset named MultiGripperGrasp for robotic grasping. Our dataset contains 30.4M grasps from 11 grippers for 345 objects. These grippers range from two-finger grippers to five-finger grippers, including a human…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

Adaptive robotics plays an essential role in achieving truly co-creative cyber physical systems. In robotic manipulation tasks, one of the biggest challenges is to estimate the pose of given workpieces. Even though the recent…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…

Sim2Real (Simulation to Reality) techniques have gained prominence in robotic manipulation and motion planning due to their ability to enhance success rates by enabling agents to test and evaluate various policies and trajectories. In this…

Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomization (DR) is commonly used to improve the robustness of learned…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…