相关论文: Self Supervised Deep Learning for Robot Grasping

Deep convolutional neural networks (CNNs) have shown excellent performance in object recognition tasks and dense classification problems such as semantic segmentation. However, training deep neural networks on large and sparse datasets is…

Deep convolutional neural network (DCNN) based supervised learning is a widely practiced approach for large-scale image classification. However, retraining these large networks to accommodate new, previously unseen data demands high…

Deep artificial neural networks require a large corpus of training data in order to effectively learn, where collection of such training data is often expensive and laborious. Data augmentation overcomes this issue by artificially inflating…

To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required, the sizes of which directly affect the rate of successful grasps. To…

Object grasping is a crucial technology enabling robots to perceive and interact with the environment sufficiently. However, in practical applications, researchers are faced with missing or noisy ground truth while training the…

Graph Convolutional Networks(GCNs) play a crucial role in graph learning tasks, however, learning graph embedding with few supervised signals is still a difficult problem. In this paper, we propose a novel training algorithm for Graph…

Deep semi-supervised learning (SSL) has experienced significant attention in recent years, to leverage a huge amount of unlabeled data to improve the performance of deep learning with limited labeled data. Pseudo-labeling is a popular…

Deep neural networks produce state-of-the-art results when trained on a large number of labeled examples but tend to overfit when small amounts of labeled examples are used for training. Creating a large number of labeled examples requires…

Graph convolution network (GCN) attracts intensive research interest with broad applications. While existing work mainly focused on designing novel GCN architectures for better performance, few of them studied a practical yet challenging…

Universal grasping of a diverse range of previously unseen objects from heaps is a grand challenge in e-commerce order fulfillment, manufacturing, and home service robotics. Recently, deep learning based grasping approaches have…

Legged robots are popular candidates for missions in challenging terrains due to the wide variety of locomotion strategies they can employ. Terrain classification is a key enabling technology for autonomous legged robots, as it allows the…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

Owing to the remarkable capability of extracting effective graph embeddings, graph convolutional network (GCN) and its variants have been successfully applied to a broad range of tasks, such as node classification, link prediction, and…

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping…

Top-performing computer vision models are powered by convolutional neural networks (CNNs). Training an accurate CNN highly depends on both the raw sensor data and their associated ground truth (GT). Collecting such GT is usually done…

Deep learning (DL) is gaining popularity as a parameter estimation method for quantitative MRI. A range of competing implementations have been proposed, relying on either supervised or self-supervised learning. Self-supervised approaches,…

Deep learning usually achieves the best results with complete supervision. In the case of semantic segmentation, this means that large amounts of pixelwise annotations are required to learn accurate models. In this paper, we show that we…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…