Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible viewpoints for grasping by the use of hand-mounted RGB-D cameras. To overcome the disadvantages of photo-realistic environment simulation, we propose a large-scale dataset called Real Embodied Dataset (RED), which includes full-viewpoint real samples on the upper hemisphere with amodal annotation and enables a simulator that has real visual feedback. Based on this dataset, a practical 3-stage transferable active grasping pipeline is developed, that is adaptive to unseen clutter scenes. In our pipeline, we propose a novel mask-guided reward to overcome the sparse reward issue in grasping and ensure category-irrelevant behavior. The grasping pipeline and its possible variants are evaluated with extensive experiments both in simulation and on a real-world UR-5 robotic arm.
@article{arxiv.2004.13358,
title = {Transferable Active Grasping and Real Embodied Dataset},
author = {Xiangyu Chen and Zelin Ye and Jiankai Sun and Yuda Fan and Fang Hu and Chenxi Wang and Cewu Lu},
journal= {arXiv preprint arXiv:2004.13358},
year = {2020}
}