相关论文: Synthesizing multi-log grasp poses in cluttered en…

We introduce a Cable Grasping-Convolutional Neural Network designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

We propose Human Pose Models that represent RGB and depth images of human poses independent of clothing textures, backgrounds, lighting conditions, body shapes and camera viewpoints. Learning such universal models requires training images…

Deep learning typically requires vast numbers of training examples in order to be used successfully. Conversely, motion capture data is often expensive to generate, requiring specialist equipment, along with actors to generate the…

Deep learning has significantly advanced computer vision and natural language processing. While there have been some successes in robotics using deep learning, it has not been widely adopted. In this paper, we present a novel robotic grasp…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

Scene understanding is essential in determining how intelligent robotic grasping and manipulation could get. It is a problem that can be approached using different techniques: seen object segmentation, unseen object segmentation, or 6D pose…

This paper presents a real-time, object-independent grasp synthesis method which can be used for closed-loop grasping. Our proposed Generative Grasping Convolutional Neural Network (GG-CNN) predicts the quality and pose of grasps at every…

We study the problem of synthesizing a number of likely future frames from a single input image. In contrast to traditional methods that have tackled this problem in a deterministic or non-parametric way, we propose to model future frames…

Recurrent feedback connections in the mammalian visual system have been hypothesized to play a role in synthesizing input in the theoretical framework of analysis by synthesis. The comparison of internally synthesized representation with…

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects.…

Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

This paper proposes a multi-grid method for learning energy-based generative ConvNet models of images. For each grid, we learn an energy-based probabilistic model where the energy function is defined by a bottom-up convolutional neural…

We propose a novel approach to synthesizing images that are effective for training object detectors. Starting from a small set of real images, our algorithm estimates the rendering parameters required to synthesize similar images given a…

Vision based robot manipulation uses cameras to capture one or more images of a scene containing the objects to be manipulated. Taking multiple images can help if any object is occluded from one viewpoint but more visible from another…

We address the problem of estimating the pose of humans using RGB image input. More specifically, we are using a random forest classifier to classify pixels into joint-based body part categories, much similar to the famous Kinect pose…