相关论文: Self Supervised Deep Learning for Robot Grasping

The amount of manually labeled data is limited in medical applications, so semi-supervised learning and automatic labeling strategies can be an asset for training deep neural networks. However, the quality of the automatically generated…

Training deep neural networks requires massive amounts of training data, but for many tasks only limited labeled data is available. This makes weak supervision attractive, using weak or noisy signals like the output of heuristic methods or…

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…

The remarkable success of today's deep neural networks highly depends on a massive number of correctly labeled data. However, it is rather costly to obtain high-quality human-labeled data, leading to the active research area of training…

Self-supervised learning is currently gaining a lot of attention, as it allows neural networks to learn robust representations from large quantities of unlabeled data. Additionally, multi-task learning can further improve representation…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

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…

Deep neural networks are typically trained under a supervised learning framework where a model learns a single task using labeled data. Instead of relying solely on labeled data, practitioners can harness unlabeled or related data to…

Supervised learning of convolutional neural networks (CNNs) can require very large amounts of labeled data. Labeling thousands or millions of training examples can be extremely time consuming and costly. One direction towards addressing…

Grasping skill is a major ability that a wide number of real-life applications require for robotisation. State-of-the-art robotic grasping methods perform prediction of object grasp locations based on deep neural networks. However, such…

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…

This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…

Deep neural networks demonstrated their ability to provide remarkable performances on a wide range of supervised learning tasks (e.g., image classification) when trained on extensive collections of labeled data (e.g., ImageNet). However,…

Deep convolutional neural networks (CNNs) have demonstrated remarkable success in computer vision by supervisedly learning strong visual feature representations. However, training CNNs relies heavily on the availability of exhaustive…

Self-supervised learning of graph neural networks (GNNs) aims to learn an accurate representation of the graphs in an unsupervised manner, to obtain transferable representations of them for diverse downstream tasks. Predictive learning and…

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…

In many machine learning applications, labeled data is scarce and obtaining more labels is expensive. We introduce a new approach to supervising neural networks by specifying constraints that should hold over the output space, rather than…

Training deep neural networks (DNNs) with limited supervision has been a popular research topic as it can significantly alleviate the annotation burden. Self-training has been successfully applied in semi-supervised learning tasks, but one…

Graph Neural Networks (GNNs) are a new and increasingly popular family of deep neural network architectures to perform learning on graphs. Training them efficiently is challenging due to the irregular nature of graph data. The problem…

In domains such as health care and finance, shortage of labeled data and computational resources is a critical issue while developing machine learning algorithms. To address the issue of labeled data scarcity in training and deployment of…