相关论文: Center Direction Network for Grasping Point Locali…

Current learning-based robot grasping approaches exploit human-labeled datasets for training the models. However, there are two problems with such a methodology: (a) since each object can be grasped in multiple ways, manually labeling grasp…

We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations. Our dataset consists of around 4400 models covering 11 categories annotated with clothes features, boundary lines, and keypoints.…

Grasping for novel objects is important for robot manipulation in unstructured environments. Most of current works require a grasp sampling process to obtain grasp candidates, combined with local feature extractor using deep learning. This…

Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hinders the reliable deployment of these methods in physical…

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…

Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific…

Robotic manipulation of unknown objects is an important field of research. Practical applications occur in many real-world settings where robots need to interact with an unknown environment. We tackle the problem of reactive grasping by…

Recognizing the category of the object and using the features of the object itself to predict grasp configuration is of great significance to improve the accuracy of the grasp detection model and expand its application. Researchers have…

Precisely grasping and reconstructing articulated objects is key to enabling general robotic manipulation. In this paper, we propose CenterArt, a novel approach for simultaneous 3D shape reconstruction and 6-DoF grasp estimation of…

Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…

3D Clothing modeling and datasets play crucial role in the entertainment, animation, and digital fashion industries. Existing work often lacks detailed semantic understanding or uses synthetic datasets, lacking realism and personalization.…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

6-DoF grasp detection of small-scale grasps is crucial for robots to perform specific tasks. This paper focuses on enhancing the recognition capability of small-scale grasping, aiming to improve the overall accuracy of grasping prediction…

The 6-Degree of Freedom (DoF) grasp method based on point clouds has shown significant potential in enabling robots to grasp target objects. However, most existing methods are based on the point clouds (2.5D points) generated from…

This paper considers the problem of grasp pose detection in point clouds. We follow a general algorithmic structure that first generates a large set of 6-DOF grasp candidates and then classifies each of them as a good or a bad grasp. Our…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

Robust grasping in cluttered environments remains an open challenge in robotics. While benchmark datasets have significantly advanced deep learning methods, they mainly focus on simplistic scenes with light occlusion and insufficient…