End-to-end self-supervised models have been proposed for estimating the success of future candidate grasps and video predictive models for generating future observations. However, none have yet studied these two strategies side-by-side for addressing the aforementioned grasping problem. We investigate and compare a model-free approach, to estimate the success of a candidate grasp, against a model-based alternative that exploits a self-supervised learnt predictive model that generates a future observation of the gripper about to grasp an object. Our experiments demonstrate that despite the end-to-end model-free model obtaining a best accuracy of 72%, the proposed model-based pipeline yields a significantly higher accuracy of 82%.
@article{arxiv.2403.07877,
title = {Generating Future Observations to Estimate Grasp Success in Cluttered Environments},
author = {Daniel Fernandes Gomes and Wenxuan Mou and Paolo Paoletti and Shan Luo},
journal= {arXiv preprint arXiv:2403.07877},
year = {2024}
}