Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping...

Research Topic

A robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments.
这里的novel object是指不需要task-specific training data for novel objects

Contribution

文章的贡献就是 提出了两个framework

• object-agnostic grasping framework: visual observations $\to$ actions
  得到dense pixel-wise probability maps of the affordances for four different grasping primitive actions.
  (affordance 和 probability of picking success差不多意思)
• cross domain image classification framework
  match observed images to product images，起到