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

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…

The versatility and adaptability of human grasping catalyze advancing dexterous robotic manipulation. While significant strides have been made in dexterous grasp generation, current research endeavors pivot towards optimizing object…

Denoising diffusion probabilistic models that were initially proposed for realistic image generation have recently shown success in various perception tasks (e.g., object detection and image segmentation) and are increasingly gaining…

In this work, we present GraspFlow, a refinement approach for generating context-specific grasps. We formulate the problem of grasp synthesis as a sampling problem: we seek to sample from a context-conditioned probability distribution of…

This paper addresses the challenging problem of category-level pose estimation. Current state-of-the-art methods for this task face challenges when dealing with symmetric objects and when attempting to generalize to new environments solely…

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…

Although larger datasets are crucial for training large deep models, the rapid growth of dataset size has brought a significant challenge in terms of considerable training costs, which even results in prohibitive computational expenses.…

Diffusion policies generate robot motions by learning to denoise action-space trajectories conditioned on observations. These observations are commonly streams of RGB images, whose high dimensionality includes substantial task-irrelevant…

The food packaging industry handles an immense variety of food products with wide-ranging shapes and sizes, even within one kind of food. Menus are also diverse and change frequently, making automation of pick-and-place difficult. A popular…

Suction cups offer a useful gripping solution, particularly in industrial robotics and warehouse applications. Vision-based grasp algorithms, like Dex-Net, show promise but struggle to accurately perceive dark or reflective objects,…

Detecting diffusion-generated images has recently grown into an emerging research area. Existing diffusion-based datasets predominantly focus on general image generation. However, facial forgeries, which pose a more severe social risk, have…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

In this paper, we present Sim-Grasp, a robust 6-DOF two-finger grasping system that integrates advanced language models for enhanced object manipulation in cluttered environments. We introduce the Sim-Grasp-Dataset, which includes 1,550…

Dataset bias is a significant challenge in machine learning, where specific attributes, such as texture or color of the images are unintentionally learned resulting in detrimental performance. To address this, previous efforts have focused…

Much effort has been put into developing samplers with specific properties, such as producing blue noise, low-discrepancy, lattice or Poisson disk samples. These samplers can be slow if they rely on optimization processes, may rely on a…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation…

Dataset distillation enables the training of deep neural networks with comparable performance in significantly reduced time by compressing large datasets into small and representative ones. Although the introduction of generative models has…

Diffusion models have recently achieved remarkable performance in image super-resolution (SR), but their high computational cost limits practical deployment in remote sensing applications. To address this issue, we propose SlimDiffSR, a…

In vision-based robot manipulation, a single camera view can only capture one side of objects of interest, with additional occlusions in cluttered scenes further restricting visibility. As a result, the observed geometry is incomplete, and…