Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance
Wenkai Chen,Hongzhuo Liang,Zhaopeng Chen,Fuchun Sun,Jianwei Zhang,Wenkai Chen,Hongzhuo Liang,Zhaopeng Chen,Fuchun Sun,Jianwei Zhang
Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp candidates are restricted to a small workspace. To mitigate these limitations, we firstly construct a novel affordance-based grasp dataset and propose a 6-DoF ta...
