相关论文: Active Cross-Modal Visuo-Tactile Perception of Def…

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…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

In this paper, we propose a novel 3D graph convolution based pipeline for category-level 6D pose and size estimation from monocular RGB-D images. The proposed method leverages an efficient 3D data augmentation and a novel vector-based…

This work proposes a robotic pipeline for picking and constrained placement of objects without geometric shape priors. Compared to recent efforts developed for similar tasks, where every object was assumed to be novel, the proposed system…

Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…

With the development of computer vision, 3D object detection has become increasingly important in many real-world applications. Limited by the computing power of sensor-side hardware, the detection task is sometimes deployed on remote…

Reconstructing transparent objects using affordable RGB-D cameras is a persistent challenge in robotic perception due to inconsistent appearances across views in the RGB domain and inaccurate depth readings in each single-view. We introduce…

Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize…

We present a framework for learning 3D object shapes and dense cross-object 3D correspondences from just an unaligned category-specific image collection. The 3D shapes are generated implicitly as deformations to a category-specific signed…

Skeleton-based action representation learning aims to interpret and understand human behaviors by encoding the skeleton sequences, which can be categorized into two primary training paradigms: supervised learning and self-supervised…

Large foundation models trained on large-scale vision-language data can boost Open-Vocabulary Object Detection (OVD) via synthetic training data, yet the hand-crafted pipelines often introduce bias and overfit to specific prompts. We…

Cross-model retrieval has emerged as one of the most important upgrades for text-only search engines (SE). Recently, with powerful representation for pairwise text-image inputs via early interaction, the accuracy of vision-language (VL)…

We present a conceptually simple, flexible, and universal visual perception head for variant visual tasks, e.g., classification, object detection, instance segmentation and pose estimation, and different frameworks, such as one-stage or…

As humans can explore and understand the world through active touch, similar capability is desired for robots. In this paper, we address the problem of active tactile object recognition, pose estimation and shape transfer learning, where a…

We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the robot's proprioception. While the computer vision community…

The strong demand of autonomous driving in the industry has lead to strong interest in 3D object detection and resulted in many excellent 3D object detection algorithms. However, the vast majority of algorithms only model single-frame data,…

Dexterous manipulation enables complex tasks but suffers from self-occlusion, severe depth noise, and depth information loss when manipulating transparent objects. To solve this problem, this paper proposes TransDex, a 3D visuo-tactile…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

Object detection in poor-illumination environments is a challenging task as objects are usually not clearly visible in RGB images. As infrared images provide additional clear edge information that complements RGB images, fusing RGB and…

The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful…