相关论文: BaSeNet: A Learning-based Mobile Manipulator Base …

Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these locomotion skills with the precise control of…

Robotic grasping traditionally relies on object features or shape information for learning new or applying already learned grasps. We argue however that such a strong reliance on object geometric information renders grasping and grasp…

Developing autonomous assistants to help with domestic tasks is a vital topic in robotics research. Among these tasks, garment folding is one of them that is still far from being achieved mainly due to the large number of possible…

Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…

We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a…

We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magnitude more than prior work - in diverse everyday…

Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…

It is a big problem that a model of deep learning for a picking robot needs many labeled images. Operating costs of retraining a model becomes very expensive because the object shape of a product or a part often is changed in a factory. It…

Since the emergence of large annotated datasets, state-of-the-art hand pose estimation methods have been mostly based on discriminative learning. Recently, a hybrid approach has embedded a kinematic layer into the deep learning structure in…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

While grasps must satisfy the grasping stability criteria, good grasps depend on the specific manipulation scenario: the object, its properties and functionalities, as well as the task and grasp constraints. In this paper, we consider such…

Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…

This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…

In the field of robot learning, coordinating robot actions through language instructions is becoming increasingly feasible. However, adapting actions to human instructions remains challenging, as such instructions are often qualitative and…

This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in…

This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…

Learning actions from human demonstration is an emerging trend for designing intelligent robotic systems, which can be referred as video to command. The performance of such approach highly relies on the quality of video captioning. However,…