Corpus ID: 236924651

Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation

  title={Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation},
  author={Yiming Li and Tao Kong and Ruihang Chu and Yifeng Li and Peng Wang and Lei Li},
  • Yiming Li, T. Kong, +3 authors Lei Li
  • Published 2021
  • Computer Science
  • ArXiv
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects is available, or utilize a step-wise, multi-stage strategy to predict the feasible 6-DoF grasp poses. In this work, we propose to formalize the 6-DoF grasp pose estimation as a simultaneous multi-task learning problem. In a unified framework, we jointly… Expand

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