相关论文: SAM2Grasp: Resolve Multi-modal Grasping via Prompt…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
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…
Unsupervised multi-object scene decomposition is a fast-emerging problem in representation learning. Despite significant progress in static scenes, such models are unable to leverage important dynamic cues present in video. We propose a…
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…
Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…
Imitation Learning (IL) holds great potential for learning repetitive manipulation tasks, such as those in industrial assembly. However, its effectiveness is often limited by insufficient trajectory precision due to compounding errors. In…
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…
In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…
The hand plays a pivotal role in human ability to grasp and manipulate objects and controllable grasp synthesis is the key for successfully performing downstream tasks. Existing methods that use human intention or task-level language as…
Foundation models like the Segment Anything Model (SAM) have significantly advanced promptable image segmentation in computer vision. However, extending these capabilities to videos presents substantial challenges, particularly in ensuring…
Due to the varying granularity of target states across different tasks, most existing trackers are tailored to a single task, which specificity limits their generalization, preventing them from effectively utilizing multi-task training data…
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…
Video action segmentation have been widely applied in many fields. Most previous studies employed video-based vision models for this purpose. However, they often rely on a large receptive field, LSTM or Transformer methods to capture…
The Segment Anything Model 2 (SAM2) has demonstrated remarkable promptable visual segmentation capabilities in video data, showing potential for extension to medical image segmentation (MIS) tasks involving 3D volumes and temporally…
Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…
Capturing scene dynamics and predicting the future scene state is challenging but essential for robotic manipulation tasks, especially when the scene contains both rigid and deformable objects. In this work, we contribute a simulation…
Inspired by Segment Anything 2, which generalizes segmentation from images to videos, we propose SAM2MOT--a novel segmentation-driven paradigm for multi-object tracking that breaks away from the conventional detection-association framework.…
Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…
Segment Anything Model 2 (SAM2) shows excellent performance in video object segmentation tasks; however, the heavy computational burden hinders its application in real-time video processing. Although there have been efforts to improve the…
In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions. Leveraging reinforcement learning eliminates the…