相关论文: Show and Grasp: Few-shot Semantic Segmentation for…

Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis,…

Learning with few samples is a major challenge for parameter-rich models like deep networks. In contrast, people learn complex new concepts even from very few examples, suggesting that the sample complexity of learning can often be reduced.…

Foundation segmentation models achieve reasonable leaf instance extraction from top-view crop images without training (i.e., zero-shot). However, segmenting entire plant individuals with each consisting of multiple overlapping leaves…

The ability to interpret a scene is an important capability for a robot that is supposed to interact with its environment. The knowledge of what is in front of the robot is, for example, relevant for navigation, manipulation, or planning.…

Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex…

Few-shot object detection aims to simultaneously localize and classify the objects in an image with limited training samples. However, most existing few-shot object detection methods focus on extracting the features of a few samples of…

Over the past few years, state-of-the-art image segmentation algorithms are based on deep convolutional neural networks. To render a deep network with the ability to understand a concept, humans need to collect a large amount of pixel-level…

Grasping is among the most fundamental and long-lasting problems in robotics study. This paper studies the problem of 6-DoF(degree of freedom) grasping by a parallel gripper in a cluttered scene captured using a commodity depth sensor from…

Partial-view 3D recognition -- reconstructing 3D geometry and identifying object instances from a few sparse RGB images -- is an exceptionally challenging yet practically essential task, particularly in cluttered, occluded real-world…

Generalising robotic grasping to previously unseen objects is a key task in general robotic manipulation. The current method for training many antipodal generative grasping models rely on a binary ground truth grasp map generated from the…

We study universal zero-shot segmentation in this work to achieve panoptic, instance, and semantic segmentation for novel categories without any training samples. Such zero-shot segmentation ability relies on inter-class relationships in…

The advent of foundation models signals a new era in artificial intelligence. The Segment Anything Model (SAM) is the first foundation model for image segmentation. In this study, we evaluate SAM's ability to segment features from eye…

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…

Semantic segmentation is fundamental to vision systems requiring pixel-level scene understanding, yet deploying it on resource-constrained devices demands efficient architectures. Although existing methods achieve real-time inference…

Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…

Few-shot learning aims to classify unseen classes with only a limited number of labeled data. Recent works have demonstrated that training models with a simple transfer learning strategy can achieve competitive results in few-shot…

Few-shot learning has attracted intensive research attention in recent years. Many methods have been proposed to generalize a model learned from provided base classes to novel classes, but no previous work studies how to select base…

The goal of few-shot learning is to recognize new visual concepts with just a few amount of labeled samples in each class. Recent effective metric-based few-shot approaches employ neural networks to learn a feature similarity comparison…

Despite the tremendous success of deep neural networks in medical image segmentation, they typically require a large amount of costly, expert-level annotated data. Few-shot segmentation approaches address this issue by learning to transfer…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…