相关论文: Diffusion Suction Grasping with Large-Scale Parcel…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

We introduce DexDiffuser, a novel dexterous grasping method that generates, evaluates, and refines grasps on partial object point clouds. DexDiffuser includes the conditional diffusion-based grasp sampler DexSampler and the dexterous grasp…

In the realm of high-resolution (HR), fine-grained image segmentation, the primary challenge is balancing broad contextual awareness with the precision required for detailed object delineation, capturing intricate details and the finest…

Robotic grasping is a crucial task in industrial automation, where robots are increasingly expected to handle a wide range of objects. However, a significant challenge arises when robot grasping models trained on limited datasets encounter…

Dexterous grasp synthesis must jointly satisfy functional intent and physical feasibility, yet existing pipelines often decouple semantic grounding from refinement, yielding unstable or non-functional contacts under object and pose…

Dataset distillation (DD) aims to compress large-scale datasets into compact synthetic sets while preserving training efficacy. However, existing studies mainly focus on image classification, leaving dense prediction tasks such as semantic…

Variable selection for high-dimensional, highly correlated data has long been a challenging problem, often yielding unstable and unreliable models. We propose a resample-aggregate framework that exploits diffusion models' ability to…

Deep learning technology has developed unprecedentedly in the last decade and has become the primary choice in many application domains. This progress is mainly attributed to a systematic collaboration in which rapidly growing computing…

Grasp detection in cluttered scenes is a very challenging task for robots. Generating synthetic grasping data is a popular way to train and test grasp methods, as is Dex-net and GraspNet; yet, these methods generate training grasps on 3D…

We propose a method that augments a simulated dataset using diffusion models to improve the performance of pedestrian detection in real-world data. The high cost of collecting and annotating data in the real-world has motivated the use of…

Despite the notable accomplishments of deep object detection models, a major challenge that persists is the requirement for extensive amounts of training data. The process of procuring such real-world data is a laborious undertaking, which…

We present Supermarket-6DoF, a real-world dataset of 1500 grasp attempts across 20 supermarket objects with publicly available 3D models. Unlike most existing grasping datasets that rely on analytical metrics or simulation for grasp…

Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stable grasps but are inefficient and lack task adaptability,…

Dataset distillation reduces the storage and computational consumption of training a network by generating a small surrogate dataset that encapsulates rich information of the original large-scale one. However, previous distillation methods…

Generative diffusion models have achieved remarkable success in producing high-quality images. However, these models typically operate in continuous intensity spaces, diffusing independently across pixels and color channels. As a result,…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

Grasping a diverse range of novel objects in dense clutter poses a great challenge to robotic automation mainly due to the occlusion problem. In this work, we propose the Pyramid-Monozone Synergistic Grasping Policy (PMSGP) that enables…

In recent years, the rapid expansion of dataset sizes and the increasing complexity of deep learning models have significantly escalated the demand for computational resources, both for data storage and model training. Dataset distillation…

Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…

Despite remarkable achievements in video synthesis, achieving granular control over complex dynamics, such as nuanced movement among multiple interacting objects, still presents a significant hurdle for dynamic world modeling, compounded by…