POIS: Policy-Oriented Instance Segmentation for Ambidextrous Robot Picking
Guangyun Xu,Yi Tao,Bowen Jiang,Peng Wang,Yongkang Luo,Jun Zhong,Guangyun Xu,Yi Tao,Bowen Jiang,Peng Wang,Yongkang Luo,Jun Zhong
Robots with a parallel-jaw gripper and suction cup is an adaptive and efficient robotic picking system. This paper proposed Policy-Oriented Instance Segmentation (POIS) for ambidextrous robots. POIS can generate a pair of target masks that allows ambidextrous robots to pick in parallel. It takes a depth image and predicts initial mask, center offset, and policy confidence map through three paralle...
