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Simultaneous Multi-View Object Recognition and Grasping in Open-Ended Domains [article]

Hamidreza Kasaei, Sha Luo, Remo Sasso, Mohammadreza Kasaei
2022 arXiv   pre-print

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https://web.archive.org/web/20211130005907/https://arxiv.org/pdf/2106.01866v2.pdf

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2021 pre-print arXiv:2106.01866v2 fatcat:znkpvst2cnb55jlmhg2tpdopn4

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2021 pre-print
arXiv:2106.01866v1 fatcat:ahzdmfjbjrax3jz4xgrtq3q7gm
To address this problem, we propose a deep learning architecture with augmented memory capacities to handle open-ended object recognition and grasping simultaneously.  ...  In particular, our approach takes multi-views of an object as input and jointly estimates pixel-wise grasp configuration as well as a deep scale- and rotation-invariant representation as outputs.  ...  Overview: A mixed autoencoder is designed for simultaneous multi-view object grasping and recognition tasks.  ... 
arXiv:2106.01866v3 fatcat:ksdsufscnnbqzimpitax77b7tq
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Hamidreza Kasaei, Sha Luo, Remo Sasso, Mohammadreza Kasaei. "Simultaneous Multi-View Object Recognition and Grasping in Open-Ended Domains." arXiv (2022)

Object Perception and Grasping in Open-Ended Domains [article]

S. Hamidreza Kasaei
2019 arXiv   pre-print

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In my research, I mainly focus on interactive open-ended learning approaches to recognize multiple objects and their grasp affordances concurrently.  ...  Inspired by this, an autonomous robot must have the ability to process visual information and conduct learning and recognition tasks in an open-ended fashion.  ...  in open-ended domains.  ... 
arXiv:1907.10932v1 fatcat:rpggrocc6becfmjhls6ivbprd4
Citation

S. Hamidreza Kasaei. "Object Perception and Grasping in Open-Ended Domains." arXiv (2019)

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching [article]

Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet (+9 others)
2020 arXiv   pre-print

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2018 pre-print
arXiv:1710.01330v4 fatcat:eizcaiwncjdllg4ikt5q7aiyeu
2018 pre-print
arXiv:1710.01330v3 fatcat:k5ekvjo5jnfklnfxz5lg2brllq
2017 pre-print
arXiv:1710.01330v2 fatcat:ub47atucbnbq5aaiftzoh4amom
2017 pre-print
arXiv:1710.01330v1 fatcat:zp5vclah6nbarklhgftkxi3v24
Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy  ...  This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments.  ...  /1539099), NVIDIA, and Facebook for hardware, technical, and financial support.  ... 
arXiv:1710.01330v5 fatcat:yyytldcvnfbvnailib366awsg4
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Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez. "Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching." arXiv (2020)

The State of Lifelong Learning in Service Robots: Current Bottlenecks in Object Perception and Manipulation [article]

S. Hamidreza Kasaei, Jorik Melsen, Floris van Beers, Christiaan Steenkist, Klemen Voncina
2021 arXiv   pre-print

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2020 pre-print
arXiv:2003.08151v1 fatcat:xfxebuupefdovaxcuoxv5apjbu
Nowadays, robots are able to recognize various objects, and quickly plan a collision-free trajectory to grasp a target object in predefined settings.  ...  Therefore, apart from batch learning, the robot should be able to continually learn about new object categories and grasp affordances from very few training examples on-site.  ...  Inspired by this theory, service robots should approach 3D object recognition and manipulation from a long-term perspective and with emphasis on domain open-endedness.  ... 
arXiv:2003.08151v3 fatcat:ks4t3qfq3bhszgbb6lzrwwq3iq
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Citation

S. Hamidreza Kasaei, Jorik Melsen, Floris van Beers, Christiaan Steenkist, Klemen Voncina. "The State of Lifelong Learning in Service Robots: Current Bottlenecks in Object Perception and Manipulation." arXiv (2021)

The State of Lifelong Learning in Service Robots:

S. Hamidreza Kasaei, Jorik Melsen, Floris van Beers, Christiaan Steenkist, Klemen Voncina
2021 Journal of Intelligent and Robotic Systems  

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Nowadays, robots are able to recognize various objects, and quickly plan a collision-free trajectory to grasp a target object in predefined settings.  ...  In this paper, we review a set of previously published works and discuss advances in service robots from object perception to complex object manipulation and shed light on the current challenges and bottlenecks  ...  from a long-term perspective and with emphasis on domain open-endedness.  ... 
doi:10.1007/s10846-021-01458-3 fatcat:eeunivdvmrcg3piyx3r3pdsviq
Open Access
Citation

S. Hamidreza Kasaei, Jorik Melsen, Floris van Beers, Christiaan Steenkist, Klemen Voncina. "The State of Lifelong Learning in Service Robots:." Journal of Intelligent and Robotic Systems 103.1 (2021)

Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching

Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet (+9 others)
2019 The international journal of robotics research  

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https://web.archive.org/web/20210716215107/https://dspace.mit.edu/bitstream/handle/1721.1/130311/0278364919868017.pdf;jsessionid=D6B23A332DB87F976F5D15243CAA07C5?sequence=2

A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL. The file type is application/pdf.

Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy  ...  This article presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments.  ...  This paper is a revision of a paper appearing in the proceedings of the 2018 International Conference on Robotics and Automation (Zeng et al., 2018b) .  ... 
doi:10.1177/0278364919868017 fatcat:tjzvct4y7rfnfiqk5bhlegpiwi
Citation

Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez. "Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching." The international journal of robotics research (2019) 027836491986801

Exploring augmented grasping capabilities in a multi-synergistic soft bionic hand

Cristina Piazza, Ann M. Simon, Kristi L. Turner, Laura A. Miller, Manuel G. Catalano, Antonio Bicchi, Levi J. Hargrove
2020 Journal of NeuroEngineering and Rehabilitation  

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Recently, the translation of neuroscientific theories (i.e. postural synergies) in software and hardware architecture of artificial devices is opening new approaches for the design and control of upper-limb  ...  Following these emerging principles, previous research on the SoftHand Pro, which embeds one physical synergy, showed promising results in terms of intuitiveness, robustness, and grasping performance.  ...  session first hand motions practiced were power grasp/hand open and then fine pinch/hand open.  ... 
doi:10.1186/s12984-020-00741-y pmid:32843058 fatcat:ssqohhjjifd4fjjgptqvf6q4y4
DOAJ
Citation

Cristina Piazza, Ann M. Simon, Kristi L. Turner, Laura A. Miller, Manuel G. Catalano, Antonio Bicchi, Levi J. Hargrove. "Exploring augmented grasping capabilities in a multi-synergistic soft bionic hand." Journal of NeuroEngineering and Rehabilitation 17.1 (2020) 116

Interactive Open-Ended Learning for 3D Object Recognition [article]

S. Hamidreza Kasaei
2019 arXiv   pre-print

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https://web.archive.org/web/20201009090824/https://arxiv.org/pdf/1912.09539v1.pdf

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Inspired by this capability, we seek to create a cognitive object perception and perceptual learning architecture that can learn 3D object categories in an open-ended fashion.  ...  The thesis contributes in several important ways to the research area of 3D object category learning and recognition.  ...  In this chapter, the subject of online 3D object category learning and recognition in open- ended robotic domains is investigated.  ... 
arXiv:1912.09539v1 fatcat:aksfik7earfafpe7n5amsehc2e
Citation

S. Hamidreza Kasaei. "Interactive Open-Ended Learning for 3D Object Recognition." arXiv (2019)

Task-Specific Sensor Planning for Robotic Assembly Tasks

Guy Rosman, Changhyun Choi, Mehmet Dogar, John W. Fisher IIIl, Daniela Rus
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  

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When performing multi-robot tasks, sensory feedback is crucial in reducing uncertainty for correct execution.  ...  We show how they can be incorporated into a multi-robot planner, and demonstrate results with a team of robots performing assembly tasks.  ...  In recent years, the spread of RGB-D sensors has made them reliable and robust sources for many applications in robotics such as object localization [2] , [13] , object recognition [25] , and Simultaneous  ... 
doi:10.1109/icra.2018.8460194 dblp:conf/icra/RosmanCDFR18 fatcat:qbekvoqeqncljmc7zusk4uvoc4
Citation

Guy Rosman, Changhyun Choi, Mehmet Dogar, John W. Fisher IIIl, Daniela Rus. "Task-Specific Sensor Planning for Robotic Assembly Tasks." 2018 IEEE International Conference on Robotics and Automation (ICRA) (2018) 2932-2939

OrthographicNet: A Deep Transfer Learning Approach for 3D Object Recognition in Open-Ended Domains [article]

Hamidreza Kasaei
2020 arXiv   pre-print

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2020 pre-print arXiv:1902.03057v2 fatcat:3p4y2dkwgrhgtb43p4yxpfdf54

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2019 pre-print
arXiv:1902.03057v1 fatcat:rlrhjozqszeodcd3vv6hndd6fa
In this work, we present OrthographicNet, a Convolutional Neural Network (CNN)-based model, for 3D object recognition in open-ended domains.  ...  Experimental results show that our approach yields significant improvements over the previous state-of-the-art approaches concerning object recognition performance and scalability in open-ended scenarios  ...  CONCLUSION In this paper, we propose a deep transfer learning based approach for 3D object recognition in open-ended domains named OrthographicNet.  ... 
arXiv:1902.03057v3 fatcat:vmq5alktivfqdm46wtijqvrzvm
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Citation

Hamidreza Kasaei. "OrthographicNet: A Deep Transfer Learning Approach for 3D Object Recognition in Open-Ended Domains." arXiv (2020)

Robotic Grasping from Classical to Modern: A Survey [article]

Hanbo Zhang, Jian Tang, Shiguang Sun, Xuguang Lan
2022 arXiv   pre-print

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By reviewing the history of robotic grasping, we want to provide a complete view of this community, and perhaps inspire the combination and fusion of different ideas, which we think would be helpful to  ...  Finally, we discuss the open problems and the future research directions that may be important for the human-level robustness, autonomy, and intelligence of robots.  ...  From this view, end-to-end learning also shares a similar idea as samplingbased methods.  ... 
arXiv:2202.03631v1 fatcat:xkwyelt5tfd5jnkhjkgxqlkevq
Citation

Hanbo Zhang, Jian Tang, Shiguang Sun, Xuguang Lan. "Robotic Grasping from Classical to Modern: A Survey." arXiv (2022)

Improving Classification by Improving Labelling: Introducing Probabilistic Multi-Label Object Interaction Recognition [article]

Michael Wray, Davide Moltisanti, Walterio Mayol-Cuevas, Dima Damen
2017 arXiv   pre-print

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2017 pre-print
arXiv:1703.08338v1 fatcat:2tyedsrda5gzhbiserwdcv44em
For the task of object interaction recognition, often captured using an egocentric view, we show that semantic ambiguities in verbs and recognising sub-interactions along with concurrent interactions result  ...  in legitimate class overlaps (Figure 1).  ...  10 verbs, for example pour in 'Crack Egg', grasp in 'Open Fridge' and grab in 'Take Bowl'.  ... 
arXiv:1703.08338v2 fatcat:a6rl5iglw5cdrdbszwz6kcvjpe
Multiple Versions
Citation

Michael Wray, Davide Moltisanti, Walterio Mayol-Cuevas, Dima Damen. "Improving Classification by Improving Labelling: Introducing Probabilistic Multi-Label Object Interaction Recognition." arXiv (2017)

Cloud Robotic Architectures: Directions for Future Research from a Comparative Analysis

Viraj Dawarka, Girish Bekaroo
2018 2018 International Conference on Intelligent and Innovative Computing Applications (ICONIC)  

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An open access repository of Middlesex University research http://eprints.mdx.ac.uk Dawarka, Viraj and Bekaroo, Girish ORCID: https://orcid.org/0000-0003-1753-4300 (2018) Cloud robotic architectures: directions  ...  Online and Offline system of Cloud & Robot grasping architecture • Cloud (Google Object Recognition Engine, Google Cloud Storage, Grasp Analysis) • Robots (Camera, Label, Domain Knowledge  ...  [4] presented a system architecture for Cloud-Based object recognition and grasping, consisting of two phases, namely, the offline and the online.  ... 
doi:10.1109/iconic.2018.8601264 fatcat:gsbftbozlbgnxkvpcmux336bj4
Citation

Viraj Dawarka, Girish Bekaroo. "Cloud Robotic Architectures: Directions for Future Research from a Comparative Analysis." 2018 International Conference on Intelligent and Innovative Computing Applications (ICONIC) (2018)

HERB: a home exploring robotic butler

Siddhartha S. Srinivasa, Dave Ferguson, Casey J. Helfrich, Dmitry Berenson, Alvaro Collet, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner, Michael Vande Weghe
2009 Autonomous Robots  

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and other constrained objects using caging grasps, grasp planning and execution in clutter, and manipulation on pose and torque constraint manifolds.  ...  We present new algorithms for searching for objects, learning to navigate in cluttered dynamic indoor scenes, recognizing and registering objects accurately in high clutter using vision, manipulating doors  ...  Object classification In GATMO, observations are clustered and classified as observed objects in a multi-level hypothesis hierarchy.  ... 
doi:10.1007/s10514-009-9160-9 fatcat:yo25gfaotraqva7q5gyhymhss4
Citation

Siddhartha S. Srinivasa, Dave Ferguson, Casey J. Helfrich, Dmitry Berenson, Alvaro Collet, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner, Michael Vande Weghe. "HERB: a home exploring robotic butler." Autonomous Robots 28.1 (2009) 5-20

Lifelong 3D Object Recognition and Grasp Synthesis Using Dual Memory Recurrent Self-Organization Networks [article]

Krishnakumar Santhakumar, Hamidreza Kasaei
2022 arXiv   pre-print

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2021 pre-print
arXiv:2109.11544v1 fatcat:y3qoyhtyafbvdedkeb4tnpjfnu
In this paper, we proposed a hybrid model architecture consists of a dynamically growing dual-memory recurrent neural network (GDM) and an autoencoder to tackle object recognition and grasping simultaneously  ...  Experiment results demonstrated that the proposed model can learn both object representation and grasping simultaneously in continual learning scenarios.  ...  and recognize the objects in open-ended domains.  ... 
arXiv:2109.11544v2 fatcat:44zgnmobvbh7rlhrqumtgexqr4
Open Access Multiple Versions
Citation

Krishnakumar Santhakumar, Hamidreza Kasaei. "Lifelong 3D Object Recognition and Grasp Synthesis Using Dual Memory Recurrent Self-Organization Networks." arXiv (2022)

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