相关论文: SemanticFeels: Semantic Labeling during In-Hand Ma…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

Vibrotactile signals offer new possibilities for conveying sensations and emotions in various applications. Yet, designing vibrotactile tactile icons (i.e., Tactons) to evoke specific feelings often requires a trial-and-error process and…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Joint representation of geometry, colour and semantics using a 3D neural field enables accurate dense labelling from ultra-sparse interactions as a user reconstructs a scene in real-time using a handheld RGB-D sensor. Our iLabel system…

The deficiency of segmentation labels is one of the main obstacles to semantic segmentation in the wild. To alleviate this issue, we present a novel framework that generates segmentation labels of images given their image-level class…

In this paper, we propose a novel framework for tactile-based dexterous manipulation learning with a blind anthropomorphic robotic hand, i.e. without visual sensing. First, object-related states were extracted from the raw tactile signals…

We introduce a neural implicit representation for grasps of objects from multiple robotic hands. Different grasps across multiple robotic hands are encoded into a shared latent space. Each latent vector is learned to decode to the 3D shape…

Scene labeling is a challenging classification problem where each input image requires a pixel-level prediction map. Recently, deep-learning-based methods have shown their effectiveness on solving this problem. However, we argue that the…

For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin…

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…

Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…

Sign language recognition is important for natural and convenient communication between deaf community and hearing majority. We take the highly efficient initial step of automatic fingerspelling recognition system using convolutional neural…

Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…

The aim of this work is to contribute to the development of a tactile device for visually impaired and blind persons in order to let them to understand actions of the surrounding people and to interact with them. First, based on the…

Material attributes have been shown to provide a discriminative intermediate representation for recognizing materials, especially for the challenging task of recognition from local material appearance (i.e., regardless of object and scene…

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 investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…

This paper proposes a new framework for semantic segmentation of objects in videos. We address the label inconsistency problem of deep convolutional neural networks (DCNNs) by exploiting the fact that videos have multiple frames; in a few…

We address the problem of semantic correspondence, that is, establishing a dense flow field between images depicting different instances of the same object or scene category. We propose to use images annotated with binary foreground masks…

Training a deep network to perform semantic segmentation requires large amounts of labeled data. To alleviate the manual effort of annotating real images, researchers have investigated the use of synthetic data, which can be labeled…