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

Few-shot semantic segmentation (FSS) aims to segment objects of unseen classes in query images with only a few annotated support images. Existing FSS algorithms typically focus on mining category representations from the single-view support…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

Graph few-shot learning has attracted increasing attention due to its ability to rapidly adapt models to new tasks with only limited labeled nodes. Despite the remarkable progress made by existing graph few-shot learning methods, several…

Deep neural networks enable highly accurate image segmentation, but require large amounts of manually annotated data for supervised training. Few-shot learning aims to address this shortcoming by learning a new class from a few annotated…

To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…

Grasping for novel objects is important for robot manipulation in unstructured environments. Most of current works require a grasp sampling process to obtain grasp candidates, combined with local feature extractor using deep learning. This…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize across diverse objects and task instructions, as they…

As robots become more widely available outside industrial settings, the need for reliable object grasping and manipulation is increasing. In such environments, robots must be able to grasp and manipulate novel objects in various situations.…

6-DoF grasp detection of small-scale grasps is crucial for robots to perform specific tasks. This paper focuses on enhancing the recognition capability of small-scale grasping, aiming to improve the overall accuracy of grasping prediction…

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…

When training data is scarce, it is common to make use of a feature extractor that has been pre-trained on a large base dataset, either by fine-tuning its parameters on the ``target'' dataset or by directly adopting its representation as…

Medical image segmentation is vital for clinical diagnosis, yet current deep learning methods often demand extensive expert effort, i.e., either through annotating large training datasets or providing prompts at inference time for each new…

How can we segment varying numbers of objects where each specific object represents its own separate class? To make the problem even more realistic, how can we add and delete classes on the fly without retraining or fine-tuning? This is the…

There has been increasing interest in smart factories powered by robotics systems to tackle repetitive, laborious tasks. One impactful yet challenging task in robotics-powered smart factory applications is robotic grasping: using robotic…

We propose an approach to semantic segmentation that achieves state-of-the-art supervised performance when applied in a zero-shot setting. It thus achieves results equivalent to those of the supervised methods, on each of the major semantic…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…