相关论文: Language-driven Grasp Detection with Mask-guided A…

The quadratic complexity of self-attention in Transformer models remains a significant bottleneck for processing long sequences and deploying large language models efficiently. For this approach, there has been significant research into…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Recent advances in deep reinforcement learning have showcased its potential in tackling complex tasks. However, experiments on visual control tasks have revealed that state-of-the-art reinforcement learning models struggle with…

We tackle the challenge of open-vocabulary segmentation, where we need to identify objects from a wide range of categories in different environments, using text prompts as our input. To overcome this challenge, existing methods often use…

Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

In this work, we present an approach to identify sub-tasks within a demonstrated robot trajectory using language instructions. We identify these sub-tasks using language provided during demonstrations as guidance to identify sub-segments of…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…

Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…

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…

Target-oriented grasping in unstructured scenes with language control is essential for intelligent robot arm grasping. The ability for the robot arm to understand the human language and execute corresponding grasping actions is a pivotal…

Point-based interactive image segmentation can ease the burden of mask annotation in applications such as semantic segmentation and image editing. However, fully extracting the target mask with limited user inputs remains challenging. We…

The dominant probing approaches rely on the zero-shot performance of image-text matching tasks to gain a finer-grained understanding of the representations learned by recent multimodal image-language transformer models. The evaluation is…

Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…

Learning-based grasp detectors typically assume a precision grasp, where each finger only has one contact point, and estimate the grasp probability. In this work, we propose a data generation and learning pipeline that can leverage power…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…