Self-Supervised Instance Segmentation by Grasping
YuXuan Liu,Xi Chen,Pieter Abbeel,YuXuan Liu,Xi Chen,Pieter Abbeel
Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an item, the mask of that grasped item can be inferred from the images of the scene before and after the grasp. Leveraging this insight, we learn a grasp segmentation ...
