6-DoF Grasp Pose Evaluation and Optimization via Transfer Learning from NeRFs
Gergely Sóti,Xi Huang,Christian Wurll,Björn Hein,Gergely Sóti,Xi Huang,Christian Wurll,Björn Hein
We address the problem of robotic grasping of known and unknown objects using implicit behavior cloning. We train a grasp evaluation model from a small number of demonstrations that outputs higher values for grasp candidates that are more likely to succeed in grasping. This evaluation model serves as an objective function, that we maximize to identify successful grasps. Key to our approach is the ...
