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 →\rightarrow 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
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