相关论文: Region-aware Grasp Framework with Normalized Grasp…

High-resolution representations are important for vision-based robotic grasping problems. Existing works generally encode the input images into low-resolution representations via sub-networks and then recover high-resolution…

We formulate grasp learning as a neural field and present Neural Grasp Distance Fields (NGDF). Here, the input is a 6D pose of a robot end effector and output is a distance to a continuous manifold of valid grasps for an object. In contrast…

Grasp detection of novel objects in unstructured environments is a key capability in robotic manipulation. For 2D grasp detection problems where grasps are assumed to lie in the plane, it is common to design a fully convolutional neural…

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…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

Grasping skill is a major ability that a wide number of real-life applications require for robotisation. State-of-the-art robotic grasping methods perform prediction of object grasp locations based on deep neural networks. However, such…

We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…

Deep Convolutional Neural Networks (CNN) have exhibited superior performance in many visual recognition tasks including image classification, object detection, and scene label- ing, due to their large learning capacity and resistance to…

3D Gaussian Splatting (3DGS) has demonstrated impressive novel view synthesis performance. While conventional methods require per-scene optimization, more recently several feed-forward methods have been proposed to generate pixel-aligned…

Grasping objects is one of the most important abilities that a robot needs to master in order to interact with its environment. Current state-of-the-art methods rely on deep neural networks trained to jointly predict a graspability score…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…

We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…

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…

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…

Graph Neural Networks (GNNs) have emerged as highly successful tools for graph-related tasks. However, real-world problems involve very large graphs, and the compute resources needed to fit GNNs to those problems grow rapidly. Moreover, the…

Robotic grasping in clutters is a fundamental task in robotic manipulation. In this work, we propose an economic framework for 6-DoF grasp detection, aiming to economize the resource cost in training and meanwhile maintain effective grasp…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

This paper introduces Top-GAP, a novel regularization technique that enhances the explainability and robustness of convolutional neural networks. By constraining the spatial size of the learned feature representation, our method forces the…

In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle…

Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and…