相关论文: Tool Shape Optimization through Backpropagation of…

We consider the problem of planning views for a robot to acquire images of an object for visual inspection and reconstruction. In contrast to offline methods which require a 3D model of the object as input or online methods which rely on…

Modern deep neural network models are large and computationally intensive. One typical solution to this issue is model pruning. However, most current pruning algorithms depend on hand crafted rules or domain expertise. To overcome this…

Mathematical morphology is a theory and technique to collect features like geometric and topological structures in digital images. Given a target image, determining suitable morphological operations and structuring elements is a cumbersome…

A segmentation-based architecture is proposed to decompose objects into multiple primitive shapes from monocular depth input for robotic manipulation. The backbone deep network is trained on synthetic data with 6 classes of primitive shapes…

Humans use tools to complete impact-aware tasks such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding…

In previous work on learning and controlling contact-rich tasks, the procedure for choosing a proper reference frame to express learned signals for the motion and the interaction wrench is often implicit, requires expert insight, or starts…

We propose a neural parameterization of convex sets by learning sublinear (positively homogeneous and convex) functions. Our networks implicitly represent both the support and gauge functions of a convex body. We prove a universal…

To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…

Various robotic tool manipulation methods have been developed so far. However, to our knowledge, none of them have taken into account the fact that the grasping state such as grasping position and tool angle can change at any time during…

This paper presents an innovative method for predicting shape errors in 5-axis machining using graph neural networks. The graph structure is defined with nodes representing workpiece surface points and edges denoting the neighboring…

A robot working in a physical environment (like home or factory) needs to learn to use various available tools for accomplishing different tasks, for instance, a mop for cleaning and a tray for carrying objects. The number of possible tools…

Developing meta-learning algorithms that are un-biased toward a subset of training tasks often requires hand-designed criteria to weight tasks, potentially resulting in sub-optimal solutions. In this paper, we introduce a new principled and…

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…

Mathematical optimization is widely used in various research fields. With a carefully-designed objective function, mathematical optimization can be quite helpful in solving many problems. However, objective functions are usually…

For dynamic manipulation of flexible objects, we propose an acquisition method of a flexible object motion equation model using a deep neural network and a control method to realize a target state by calculating an optimized time-series…

When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…

This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…

Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…

This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset…