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

Thanks to the impressive progress of large-scale vision-language pretraining, recent recognition models can classify arbitrary objects in a zero-shot and open-set manner, with a surprisingly high accuracy. However, translating this success…

Learning robotic grasps from visual observations is a promising yet challenging task. Recent research shows its great potential by preparing and learning from large-scale synthetic datasets. For the popular, 6 degree-of-freedom (6-DOF)…

Semantic scene segmentation plays a critical role in a wide range of robotics applications, e.g., autonomous navigation. These applications are accompanied by specific computational restrictions, e.g., operation on low-power GPUs, at…

Few-shot learning is a challenging problem since only a few examples are provided to recognize a new class. Several recent studies exploit additional semantic information, e.g. text embeddings of class names, to address the issue of rare…

Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

Accurate robot segmentation is a fundamental capability for robotic perception. It enables precise visual servoing for VLA systems, scalable robot-centric data augmentation, accurate real-to-sim transfer, and reliable safety monitoring in…

Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…

The deep CNNs in image semantic segmentation typically require a large number of densely-annotated images for training and have difficulties in generalizing to unseen object categories. Therefore, few-shot segmentation has been developed to…

Few-shot semantic segmentation addresses the learning task in which only few images with ground truth pixel-level labels are available for the novel classes of interest. One is typically required to collect a large mount of data (i.e., base…

For autonomous robots to navigate a complex environment, it is crucial to understand the surrounding scene both geometrically and semantically. Modern autonomous robots employ multiple sets of sensors, including lidars, radars, and cameras.…

Recently few-shot segmentation (FSS) has been extensively developed. Most previous works strive to achieve generalization through the meta-learning framework derived from classification tasks; however, the trained models are biased towards…

Video recognition models are typically trained on fixed taxonomies which are often too coarse, collapsing distinctions in object, manner or outcome under a single label. As tasks and definitions evolve, such models cannot accommodate…

Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Few-shot segmentation targets to segment new classes with few annotated images provided. It is more challenging than traditional semantic segmentation tasks that segment known classes with abundant annotated images. In this paper, we…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

Large-scale foundation models have become the mainstream deep learning method, while in civil engineering, the scale of AI models is strictly limited. In this work, a vision foundation model is introduced for crack segmentation. Two…

Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…

Existing few-shot segmentation methods have achieved great progress based on the support-query matching framework. But they still heavily suffer from the limited coverage of intra-class variations from the few-shot supports provided.…