相关论文: Language-driven Grasp Detection with Mask-guided A…
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…
Interactive robotic grasping using natural language is one of the most fundamental tasks in human-robot interaction. However, language can be a source of ambiguity, particularly when there are ambiguous visual or linguistic contents. This…
Eye movement is closely related to limb actions, so it can be used to infer movement intentions. More importantly, in some cases, eye movement is the only way for paralyzed and impaired patients with severe movement disorders to communicate…
Extracting hand regions and their grasp information from images robustly in real-time is critical for occupants' safety and in-vehicular infotainment applications. It must however, be noted that naturalistic driving scenes suffer from…
Achieving reliable robotic manipulation, such as dexterous grasping, requires a synergy between physically stable interactions and semantic task guidance, yet these objectives are often treated as separate, disjoint goals. In this paper, we…
The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…
Grasp is an essential skill for robots to interact with humans and the environment. In this paper, we build a vision-based, robust and real-time robotic grasp approach with fully convolutional neural network. The main component of our…
Deep learning has significantly advanced computer vision and natural language processing. While there have been some successes in robotics using deep learning, it has not been widely adopted. In this paper, we present a novel robotic grasp…
Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…
General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…
The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomously identify grasping locations by using information from…
Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…
Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…
Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…
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…
Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…
We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal…
Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…