8 accepted papers
Grasp planning must consider an object's local geometry (at the finger contacts), for the range of applicable wrenches under friction, and its global geometry, for force closure and grasp quality. Most everyday objects have curved surfaces unamenable to a pure combinatorial approach but treatable wi
This paper proves a new fingerprinting method to embed the ownership information into a deep neural network (DNN) with theoretically guaranteed robustness to fine-tuning. Specifically, we prove that when the input feature of a convolutional layer only contains low-frequency components, specific freq…
We prove that when we do the Taylor series expansion of the loss function, the BN operation will block the influence of the first-order term and most influence of the second-order term of the loss. We also find that such a problem is caused by the standardization phase of the BN operation. We believ…
Despite decades of steady research progress, the robotic hand is still far behind the human hand in terms of dexterity and versatility. A milestone in this quest for human-level performance will be possessing the skills of manipulating hand tools, for their non-trivial geometries and for the intrica…
In this paper, we prove the representation defects of a cascaded convolutional decoder network, considering the capacity of representing different frequency components of an input sample. We conduct the discrete Fourier transform on each channel of the feature map in an intermediate layer of the dec…
For over three decades, finger gaiting has remained largely a subject for theoretical inquiries. Successful execution of a sequence of finger gaits does not simply reduce to planning collision-free paths for the involved fingers. A major issue is how to move the gaiting finger without losing the fin…
The robotic hand is still no match for the human hand on many skills. Manipulation of hand tools, which usually requires sophisticated finger movements and fine controls, not only poses a clear technical challenge but also carries a great potential for enabling the robot to assist humans in a wide r…
Robustness and safety concerns of perception systems are of great importance for autonomous vehicle navigation applications. Recent researches demonstrate that the surrounding dynamic object detection results of current perception systems can be easily interfered or attacked to mislead the navigatio…