GraNet: A Multi-Level Graph Network for 6-DoF Grasp Pose Generation in Cluttered Scenes
Haowen Wang,Wanhao Niu,Chungang Zhuang,Haowen Wang,Wanhao Niu,Chungang Zhuang
6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping task. This paper proposes GraNet, a graph-based grasp pose generation framework that translates a point cloud scene into multi-level graphs and propagates feat...
