Deep Learning for Detecting Robotic Grasps

From Ian Lenz, Honglak Lee, Ashutosh Saxena:

Abstract

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents two main challenges. First, we need to evaluate a huge number of candidate grasps. In order to make detection fast and robust, we present a two-step cascaded system with two deep networks, where the top detections from the first are re-evaluated by the second. The first network has fewer features, is faster to run, and can effectively prune out unlikely candidate grasps. The second, with more features, is slower but has to run only on the top few detections. Second, we need to handle multimodal inputs effectively, for which we present a method that applies structured regularization on the weights based on multimodal group regularization. We show that our method improves performance on an RGBD robotic grasping dataset, and can be used to successfully execute grasps on two different robotic platforms... (homepage) (full pdf paper)

Comments (0)

This post does not have any comments. Be the first to leave a comment below.


Post A Comment

You must be logged in before you can post a comment. Login now.

Featured Product

Stäubli – Robotic tool changers

Stäubli - Robotic tool changers

Stäubli offers a complete range of robotic tool changing systems for payloads of 20 kg to 1,530 kg and torsion moments from 30 to 12,500 Nm, designed for use in virtually every industry. The tool changers adapt to customer-specific applications with different modules for media, data, power, etc. The new MPS 130 robotic tool changer is powerful, very robust, and designed for a huge range of applications. It features multiple couplings for air/vacuum connections, and can be equipped with connectors for data and electrical transmission. Very compact dimensions, with a coupled height of only 67 mm, make the MPS 130 the first choice for applications requiring a high number of mating cycles.