6-DOF Grasping for Target-driven Object Manipulation in Clutter
Adithyavairavan Murali,Arsalan Mousavian,Clemens Eppner,Chris Paxton,Dieter Fox,Adithyavairavan Murali,Arsalan Mousavian,Clemens Eppner,Chris Paxton,Dieter Fox
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem by limiting themselves to top-down planar grasps which is insufficient for many real-world scenarios and greatly limits possible grasps. We present a method that...
