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Class Incremental Robotic Pick-and-Place via Incremental Few-Shot Object Detection | |
Deng JR(邓杰仁)1,2![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE ROBOTICS AND AUTOMATION LETTERS
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2023 | |
卷号 | 8期号:9页码:5974-5981 |
文章类型 | 期刊论文 |
摘要 | We introduce a new task, called Class Incremental Robotic Pick-and-Place (CIRPAP), which calls for the capacity to learn to pick and place new categories of objects while retaining the skill of dealing with the previously learned ones. CIRPAP faces three challenges: catastrophic forgetting, few-shot learning, and robust picking in cluttered environments. To address the challenges of catastrophic forgetting and few-shot learning, we propose a novel CIRPAP framework that is built on Incremental Few-Shot Object Detection (iFSD). Specifically, with fixed pre-trained Transformerlike object detection models, we only fine-tune the additional adapter modules, which is called adapter-tuning. To address the challenge of robust picking in cluttered environments, we also utilize multiview fusion to integrate object detection and grasp prediction results. As for iFSD evaluation, experiments show that our adapter-tuning-based approach outperforms state-of-the-art methods on COCO and our dataset. As for full CIRPAP system evaluation, experimental results on a real robotic platform demonstrate the effectiveness of our proposed framework. |
收录类别 | SCI |
语种 | 英语 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统感认知 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57077 |
专题 | 中国科学院工业视觉智能装备工程实验室_先进制造与自动化 |
通讯作者 | Zhang HJ(张好剑) |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Deng JR,Zhang HJ,Hu JH,et al. Class Incremental Robotic Pick-and-Place via Incremental Few-Shot Object Detection[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2023,8(9):5974-5981. |
APA | Deng JR,Zhang HJ,Hu JH,Zhang XX,&Wang YK.(2023).Class Incremental Robotic Pick-and-Place via Incremental Few-Shot Object Detection.IEEE ROBOTICS AND AUTOMATION LETTERS,8(9),5974-5981. |
MLA | Deng JR,et al."Class Incremental Robotic Pick-and-Place via Incremental Few-Shot Object Detection".IEEE ROBOTICS AND AUTOMATION LETTERS 8.9(2023):5974-5981. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Class_Incremental_Ro(1914KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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