相关论文: Visuomotor Grasping with World Models for Surgical…

Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…

We want to build robots that are useful in unstructured real world applications, such as doing work in the household. Grasping in particular is an important skill in this domain, yet it remains a challenge. One of the key hurdles is…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing methods are either constrained to narrow…

Interactive grasping from clutter, akin to human dexterity, is one of the longest-standing problems in robot learning. Challenges stem from the intricacies of visual perception, the demand for precise motor skills, and the complex interplay…

Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…

Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…

In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…

Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…

Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…

Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…

We present a follow-up study on our unified visuomotor neural model for the robotic tasks of identifying, localizing, and grasping a target object in a scene with multiple objects. Our Retinanet-based model enables end-to-end training of…

Grasping moving objects, such as goods on a belt or living animals, is an important but challenging task in robotics. Conventional approaches rely on a set of manually defined object motion patterns for training, resulting in poor…

Accurate tracking of tissues and instruments in videos is crucial for Robotic-Assisted Minimally Invasive Surgery (RAMIS), as it enables the robot to comprehend the surgical scene with precise locations and interactions of tissues and…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

As robots become more widely available outside industrial settings, the need for reliable object grasping and manipulation is increasing. In such environments, robots must be able to grasp and manipulate novel objects in various situations.…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…