7 accepted papers
Reactive grasping, which enables the robot to successfully grasp dynamic moving objects, is of great interest in robotics. Current methods mainly focus on the temporal smoothness of the predicted grasp poses but few consider their semantic consistency. Consequently, the predicted grasps are not guar…
"We present a dataset of 371 3D models of everyday tabletop objects along with their 320,000 real world RGB and depth images. Accurate annotations of camera poses and object poses for each image are performed in a semi-automated fashion to facilitate the use of the dataset for myriad 3D applications…
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, specifically table organization tasks. We provide a set of identical real robot setups and facilitate remote experiments of
Efficient and robust grasp pose detection is vital for robotic manipulation. For general 6 DoF grasping, conventional methods treat all points in a scene equally and usually adopt uniform sampling to select grasp candidates. However, we discover that ignoring where to grasp greatly harms the speed a…
General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image or point cloud as input which may lead to poor results in s…
Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for cluttered scene, current researches suffer from the problems of insufficient training data and the lacking of evaluation benchmarks. In this work, we contribute a large-scale grasp po…
Instance segmentation requires a large number of training samples to achieve satisfactory performance and benefits from proper data augmentation. To enlarge the training set and increase the diversity, previous methods have investigated using data annotation from other domain (e.g. bbox, point) in a…