Related papers: Grasp Pose Detection in Point Clouds

In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…

Dexterous grasping of a novel object given a single view is an open problem. This paper makes several contributions to its solution. First, we present a simulator for generating and testing dexterous grasps. Second we present a data set,…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Data-driven approach for grasping shows significant advance recently. But these approaches usually require much training data. To increase the efficiency of grasping data collection, this paper presents a novel grasp training system…

Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…

This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate…

We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

In this work, we present a geometry-based grasping algorithm that is capable of efficiently generating both top and side grasps for unknown objects, using a single view RGB-D camera, and of selecting the most promising one. We demonstrate…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…

Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…

Dexterous grasping in multi-object scene constitutes a fundamental challenge in robotic manipulation. Current mainstream grasping datasets predominantly focus on single-object scenarios and predefined grasp configurations, often neglecting…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Robotic grasping is a fundamental capability for autonomous manipulation, yet remains highly challenging in cluttered environments where occlusion, poor perception quality, and inconsistent 3D reconstructions often lead to unstable or…