Learning to Detect Multi-Modal Grasps for Dexterous Grasping in Dense Clutter
Matt Corsaro,Stefanie Tellex,George Konidaris,Matt Corsaro,Stefanie Tellex,George Konidaris
We propose an approach to multi-modal grasp detection that jointly predicts the probabilities that several types of grasps succeed at a given grasp pose. Given a partial point cloud of a scene, the algorithm proposes a set of feasible grasp candidates, then estimates the probabilities that a grasp of each type would succeed at each candidate pose. Predicting grasp success probabilities directly fr...
