相关论文: Generative Grasp Detection and Estimation with Con…

This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…

Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…

Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates…

Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…

In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared to recent grasp evaluation metrics that are based on…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

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 ability of robots to grasp novel objects has industry applications in e-commerce order fulfillment and home service. Data-driven grasping policies have achieved success in learning general strategies for grasping arbitrary objects.…

Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex,…

The task of grasp pattern recognition aims to derive the applicable grasp types of an object according to the visual information. Current state-of-the-art methods ignore category information of objects which is crucial for grasp pattern…

Robotic grasping is one of the most fundamental tasks in robotic manipulation, and grasp detection/generation has long been the subject of extensive research. Recently, language-driven grasp generation has emerged as a promising direction…

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…

Heralded by the initial success in speech recognition and image classification, learning-based approaches with neural networks, commonly referred to as deep learning, have spread across various fields. A primitive form of a neural network…

Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…

Learning-based approaches for robotic grasping using visual sensors typically require collecting a large size dataset, either manually labeled or by many trial and errors of a robotic manipulator in the real or simulated world. We propose a…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…