相关论文: Jacquard V2: Refining Datasets using the Human In …

In this work, we investigate the influence of labeling methods on the classification of human movements on data recorded using a marker-based motion capture system. The dataset is labeled using two different approaches, one based on video…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

As machine learning for images becomes democratized in the Software 2.0 era, one of the serious bottlenecks is securing enough labeled data for training. This problem is especially critical in a manufacturing setting where smart factories…

Modern machine learning models deployed often encounter distribution shifts in real-world applications, manifesting as covariate or semantic out-of-distribution (OOD) shifts. These shifts give rise to challenges in OOD generalization and…

We present a novel human-in-the-loop approach to estimate 3D scene layout that uses human feedback from an egocentric standpoint. We study this approach through introduction of a novel local correction task, where users identify local…

Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…

In semi-supervised learning, methods that rely on confidence learning to generate pseudo-labels have been widely proposed. However, increasing research finds that when faced with noisy and biased data, the model's representation network is…

Wood logs picking is a challenging task to automate. Indeed, logs usually come in cluttered configurations, randomly orientated and overlapping. Recent work on log picking automation usually assume that the logs' pose is known, with little…

This paper reviews the reasons that Human-in-the-Loop is both critical for preventing widely-understood failure modes for machine learning, and not a practical solution. Following this, we review two current heuristic methods for addressing…

In our study, we conducted a comprehensive analysis of three widely used datasets in the domain of building footprint extraction using deep neural networks: the INRIA Aerial Image Labelling dataset, SpaceNet 2: Building Detection v2, and…

Our way of grasping objects is challenging for efficient, intelligent and optimal grasp by COBOTs. To streamline the process, here we use deep learning techniques to help robots learn to generate and execute appropriate grasps quickly. We…

Advances in object recognition flourished in part because of the availability of high-quality datasets and associated benchmarks. However, these benchmarks---such as ILSVRC---are relatively task-specific, focusing predominately on…

Gripper-in-hand data collection decouples demonstration acquisition from robot hardware, but whether a trajectory is executable on the target robot remains unknown until a separate replay-and-validate stage. Failed demonstrations therefore…

Robotic manipulation, in particular in-hand object manipulation, often requires an accurate estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-of-the-art approaches in 6D object pose estimation use…

Vision-Language Models (VLMs), with their powerful content generation capabilities, have been successfully applied to data annotation processes. However, the VLM-generated labels exhibit dual limitations: low quality (i.e., label noise) and…

Data-driven approaches to solving robotic tasks have gained a lot of traction in recent years. However, most existing policies are trained on large-scale datasets collected in curated lab settings. If we aim to deploy these models in…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…

An object handover between a robot and a human is a coordinated action which is prone to failure for reasons such as miscommunication, incorrect actions and unexpected object properties. Existing works on handover failure detection and…

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,…