相关论文: Tool Shape Optimization through Backpropagation of…

A major challenge in designing neural network (NN) systems is to determine the best structure and parameters for the network given the data for the machine learning problem at hand. Examples of parameters are the number of layers and nodes,…

Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains…

The published literature on topology optimization has exploded over the last two decades to include methods that use shape and topological derivatives or evolutionary algorithms formulated on various geometric representations and…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…

We focus on autonomously generating robot motion for day to day physical tasks that is expressive of a certain style or emotion. Because we seek generalization across task instances and task types, we propose to capture style via cost…

The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…

Trajectory planning in robotics is understood as generating a sequence of joint configurations that will lead a robotic agent, or its manipulator, from an initial state to the desired final state, thus completing a manipulation task while…

This paper describes a new model for an artificial neural network processing unit or neuron. It is slightly different to a traditional feedforward network by the fact that it favours a mechanism of trying to match the wave-like 'shape' of…

Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…

An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…

Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

We cast shape matching as metric learning with convolutional networks. We break the end-to-end process of image representation into two parts. Firstly, well established efficient methods are chosen to turn the images into edge maps.…

Object shape provides important information for robotic manipulation; for instance, selecting an effective grasp depends on both the global and local shape of the object of interest, while reaching into clutter requires accurate surface…

When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…

Future service robots working in human environments, such as kitchens, will face situations where they need to improvise. The usual tool for a given task might not be available and the robot will have to use some substitute tool. The robot…

This work proposes a robotic pipeline for picking and constrained placement of objects without geometric shape priors. Compared to recent efforts developed for similar tasks, where every object was assumed to be novel, the proposed system…

A common way to manipulate heavy objects is to maintain at least one point of the object in contact with the environment during the manipulation. When the object has a cylindrical shape or, in general, a curved edge, not only sliding and…

Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…