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

Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hinders the reliable deployment of these methods in physical…

For 6-DoF grasp detection, simulated data is expandable to train more powerful model, but it faces the challenge of the large gap between simulation and real world. Previous works bridge this gap with a sim-to-real way. However, this way…

We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping…

Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents an efficient procedure for exploring the grasp space of a multifingered adaptive gripper for generating reliable…

Deep reinforcement learning models are notoriously data hungry, yet real-world data is expensive and time consuming to obtain. The solution that many have turned to is to use simulation for training before deploying the robot in a real…

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…

This paper describes a method for generating robot grasps by jointly considering stability and other task and object-specific constraints. We introduce a three-level representation that is acquired for each object class from a small number…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…

Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…

Reinforcement Learning (RL) methods have been widely applied for robotic manipulations via sim-to-real transfer, typically with proprioceptive and visual information. However, the incorporation of tactile sensing into RL for contact-rich…

While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…

Human action recognition is a challenging problem, particularly when there is high variability in factors such as subject appearance, backgrounds and viewpoint. While deep neural networks (DNNs) have been shown to perform well on action…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

The goal of this work is to address the recent success of domain randomization and data augmentation for the sim2real setting. We explain this success through the lens of causal inference, positioning domain randomization and data…