Automatic Hanging Point Learning from Random Shape Generation and Physical Function Validation
Kosuke Takeuchi,Iori Yanokura,Yohei Kakiuchi,Kei Okada,Masayuki Inaba,Kosuke Takeuchi,Iori Yanokura,Yohei Kakiuchi,Kei Okada,Masayuki Inaba
The purpose of this paper is the robotic hanging manipulation of an object of various shapes that is not limited to a specific category. To achieve this, we propose a method that allows the estimator to learn many different shapes with hanging points without any manual annotation. A random shape generator using GAN solves the limitation of the number of 3D models and can handle objects of various ...
