相关论文: Counting Objects in a Robotic Hand

Counting objects in digital images is a process that should be replaced by machines. This tedious task is time consuming and prone to errors due to fatigue of human annotators. The goal is to have a system that takes as input an image and…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

In this work, we address the problem of few-shot multi-class object counting with point-level annotations. The proposed technique leverages a class agnostic attention mechanism that sequentially attends to objects in the image and extracts…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…

This paper presents a Convolutional Neural Network (CNN) approach for counting and locating objects in high-density imagery. To the best of our knowledge, this is the first object counting and locating method based on a feature map…

We use static object data to improve success detection for stacking objects on and nesting objects in one another. Such actions are necessary for certain robotics tasks, e.g., clearing a dining table or packing a warehouse bin. However,…

Object pose distribution estimation is crucial in robotics for better path planning and handling of symmetric objects. Recent distribution estimation approaches employ contrastive learning-based approaches by maximizing the likelihood of a…

The food packaging industry handles an immense variety of food products with wide-ranging shapes and sizes, even within one kind of food. Menus are also diverse and change frequently, making automation of pick-and-place difficult. A popular…

Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…

Robotic grasping is a fundamental skill required for object manipulation in robotics. Multi-fingered robotic hands, which mimic the structure of the human hand, can potentially perform complex object manipulation. Nevertheless, current…

Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…

Learning to count is a learning strategy that has been recently proposed in the literature for dealing with problems where estimating the number of object instances in a scene is the final objective. In this framework, the task of learning…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…

Much of the literature on robotic perception focuses on the visual modality. Vision provides a global observation of a scene, making it broadly useful. However, in the domain of robotic manipulation, vision alone can sometimes prove…

Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…