相关论文: Self Supervised Deep Learning for Robot Grasping

Self-supervised learning methods are attractive candidates for automatic object picking. However, the trial samples lack the complete ground truth because the observable parts of the agent are limited. That is, the information contained in…

The need for labeled data is among the most common and well-known practical obstacles to deploying deep learning algorithms to solve real-world problems. The current generation of learning algorithms requires a large volume of data labeled…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

Deep neural networks have established as a powerful tool for large scale supervised classification tasks. The state-of-the-art performances of deep neural networks are conditioned to the availability of large number of accurately labeled…

Convolutional networks have marked their place over the last few years as the best performing model for various visual tasks. They are, however, most suited for supervised learning from large amounts of labeled data. Previous attempts have…

Deep learning usually requires big data, with respect to both volume and variety. However, most remote sensing applications only have limited training data, of which a small subset is labeled. Herein, we review three state-of-the-art…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

Despite the success of Graph Neural Networks (GNNs) on various applications, GNNs encounter significant performance degradation when the amount of supervision signals, i.e., number of labeled nodes, is limited, which is expected as GNNs are…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…

Deep learning demands a huge amount of well-labeled data to train the network parameters. How to use the least amount of labeled data to obtain the desired classification accuracy is of great practical significance, because for many…

Deep learning is an established framework for learning hierarchical data representations. While compute power is in abundance, one of the main challenges in applying this framework to robotic grasping has been obtaining the amount of data…

ConvNets achieve good results when training from clean data, but learning from noisy labels significantly degrades performances and remains challenging. Unlike previous works constrained by many conditions, making them infeasible to real…

Machine learning is making substantial progress in diverse applications. The success is mostly due to advances in deep learning. However, deep learning can make mistakes and its generalization abilities to new tasks are questionable. We ask…

Convolutional neural networks trained without supervision come close to matching performance with supervised pre-training, but sometimes at the cost of an even higher number of parameters. Extracting subnetworks from these large…

In the 21st-century information age, with the development of big data technology, effectively extracting valuable information from massive data has become a key issue. Traditional data mining methods are inadequate when faced with…

Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this…

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…

Self-supervised grasp learning, i.e., learning to grasp by trial and error, has made great progress. However, it is still time-consuming to train such a model and also a challenge to apply it in practice. This work presents an accelerating…

Recent advancements in semi-supervised deep learning have introduced effective strategies for leveraging both labeled and unlabeled data to improve classification performance. This work proposes a semi-supervised framework that utilizes a…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…