相关论文: Self Supervised Deep Learning for Robot Grasping

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…

Mobile grasping enhances manipulation efficiency by utilizing robots' mobility. This study aims to enable a commercial off-the-shelf robot for mobile grasping, requiring precise timing and pose adjustments. Self-supervised learning can…

Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience,…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Deep Neural Networks (DNNs) have been successfully applied to a wide range of problems. However, two main limitations are commonly pointed out. The first one is that they require long time to design. The other is that they heavily rely on…

Learning-based approaches for robotic grasping using visual sensors typically require collecting a large size dataset, either manually labeled or by many trial and errors of a robotic manipulator in the real or simulated world. We propose a…

Effective convolutional neural networks are trained on large sets of labeled data. However, creating large labeled datasets is a very costly and time-consuming task. Semi-supervised learning uses unlabeled data to train a model with higher…

Supervised learning, more specifically Convolutional Neural Networks (CNN), has surpassed human ability in some visual recognition tasks such as detection of traffic signs, faces and handwritten numbers. On the other hand, even…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

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…

In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…

Over the last couple of years, deep learning and especially convolutional neural networks have become one of the work horses of computer vision. One limiting factor for the applicability of supervised deep learning to more areas is the need…

Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of object images and grasp labels. However, empirical grasping…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…

Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…

Grasping objects intelligently is a challenging task even for humans and we spend a considerable amount of time during our childhood to learn how to grasp objects correctly. In the case of robots, we can not afford to spend that much time…

Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

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…