相关论文: Self Supervised Deep Learning for Robot Grasping

Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

Large-scale supervised classification algorithms, especially those based on deep convolutional neural networks (DCNNs), require vast amounts of training data to achieve state-of-the-art performance. Decreasing this data requirement would…

How do humans learn to acquire a powerful, flexible and robust representation of objects? While much of this process remains unknown, it is clear that humans do not require millions of object labels. Excitingly, recent algorithmic…

Semi-supervised learning has been well developed to help reduce the cost of manual labelling by exploiting a large quantity of unlabelled data. Especially in the application of land cover classification, pixel-level manual labelling in…

Graph Neural Networks (GNNs) have been widely applied in the semi-supervised node classification task, where a key point lies in how to sufficiently leverage the limited but valuable label information. Most of the classical GNNs solely use…

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…

Despite the success of deep neural networks (DNNs) in image classification tasks, the human-level performance relies on massive training data with high-quality manual annotations, which are expensive and time-consuming to collect. There…

The recent promising achievements of deep learning rely on the large amount of labeled data. Considering the abundance of data on the web, most of them do not have labels at all. Therefore, it is important to improve generalization…

Training a neural network (NN) typically relies on some type of curve-following method, such as gradient descent (GD) (and stochastic gradient descent (SGD)), ADADELTA, ADAM or limited memory algorithms. Convergence for these algorithms…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

Deep neural networks achieve remarkable performances on a wide range of tasks with the aid of large-scale labeled datasets. Yet these datasets are time-consuming and labor-exhaustive to obtain on realistic tasks. To mitigate the requirement…

Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…

The search for new high-performance organic semiconducting molecules is challenging due to the vastness of the chemical space, machine learning methods, particularly deep learning models like graph neural networks (GNNs), have shown…

Deep learning usually requires large amounts of labeled training data, but annotating data is costly and tedious. The framework of semi-supervised learning provides the means to use both labeled data and arbitrary amounts of unlabeled data…

Convolutional neural network (CNN)-based feature learning has become state of the art, since given sufficient training data, CNN can significantly outperform traditional methods for various classification tasks. However, feature learning…

Deep Convolutional Neural Networks (CNN) enforces supervised information only at the output layer, and hidden layers are trained by back propagating the prediction error from the output layer without explicit supervision. We propose a…

Deep networks are successfully used as classification models yielding state-of-the-art results when trained on a large number of labeled samples. These models, however, are usually much less suited for semi-supervised problems because of…

Semi-supervised learning is becoming increasingly important because it can combine data carefully labeled by humans with abundant unlabeled data to train deep neural networks. Classic methods on semi-supervised learning that have focused on…

The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection.…