Learning to Generate 6-DoF Grasp Poses with Reachability Awareness
Xibai Lou,Yang Yang,Changhyun Choi,Xibai Lou,Yang Yang,Changhyun Choi
Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates feasible 6-DoF grasp poses in unrestricted workspace with reachability awareness. Unlike the majority of works that predict if a proposed grasp pose within the restr...
