LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
Letian Fu,Michael Danielczuk,Ashwin Balakrishna,Daniel S. Brown,Jeffrey Ichnowski,Eugen Solowjow,Ken Goldberg,Letian Fu,Michael Danielczuk,Ashwin Balakrishna,Daniel S. Brown,Jeffrey Ichnowski,Eugen Solowjow,Ken Goldberg
While deep learning has enabled significant progress in designing general purpose robot grasping systems, there remain objects which still pose challenges for these systems. Recent work on Exploratory Grasping has formalized the problem of systematically exploring grasps on these adversarial objects and explored a multi-armed bandit model for identifying high-quality grasps on each object stable p...
