GATER: Learning Grasp-Action-Target Embeddings and Relations for Task-Specific Grasping
Abstract
Intelligent service robots require the ability to perform a variety of tasks in dynamic environments. Despite the significant progress in robotic grasping, it is still a challenge for robots to decide grasping position when given different tasks in unstructured real life environments. In order to overcome this challenge, creating a proper knowledge representation framework is the key. Unlike the previous work, in this paper, task is defined as a triplet including grasping tool, desired action and target object. Our proposed algorithm GATER (Grasp--Action--Target Embeddings and Relations) models the relationship among grasping tools--action--target objects in embedding space. To validate our method, a novel dataset is created for task-specific grasping. GATER is trained on the new dataset and achieve task-specific grasping inference with 94.6\% success rate. Finally, the effectiveness of GATER algorithm is tested on a real service robot platform. GATER algorithm has its potential in human behavior prediction and human-robot interaction.
Cite
@article{arxiv.2111.13815,
title = {GATER: Learning Grasp-Action-Target Embeddings and Relations for Task-Specific Grasping},
author = {Ming Sun and Yue Gao},
journal= {arXiv preprint arXiv:2111.13815},
year = {2021}
}