Yi Sun

Hongtao Wen, Jianhang Yan, Wanli Peng et al.

Grasp pose estimation is an important issue for robots to interact with the real world. However, most of existing methods require exact 3D object models available beforehand or a large amount of grasp annotations for training. To avoid these problems, we propose TransGrasp, a category-level grasp pose estimation method that predicts grasp poses of a category of objects by labeling only one object instance. Specifically, we perform grasp pose transfer across a category of objects based on their shape correspondences and propose a grasp pose refinement module to further fine-tune grasp pose of grippers so as to ensure successful grasps. Experiments demonstrate the effectiveness of our method on achieving high-quality grasps with the transferred grasp poses. Our code is available at https://github.com/yanjh97/TransGrasp.

Kelvin Kwakye, Younho Seong, Sun Yi

The provision of paratransit services is one option to meet the transportation needs of Vulnerable Road Users (VRUs). Like any other means of transportation, paratransit has obstacles such as high operational costs and longer trip times. As a result, customers are dissatisfied, and paratransit operators have a low approval rating. Researchers have undertaken various studies over the years to better understand the travel behaviors of paratransit customers and how they are operated. According to the findings of these researches, paratransit operators confront the challenge of determining the optimal route for their trips in order to save travel time. Depending on the nature of the challenge, most research used different optimization techniques to solve these routing problems. As a result, the goal of this study is to use Graph Convolutional Neural Networks (GCNs) to assist paratransit operators in researching various operational scenarios in a strategic setting in order to optimize routing, minimize operating costs and minimize their users' travel time. The study was carried out by using a randomized simulated dataset to help determine the decision to make in terms of fleet composition and capacity under different situations. For the various scenarios investigated, the GCN assisted in determining the minimum optimal gap.