Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation
Yiming Li,Tao Kong,Ruihang Chu,Yifeng Li,Peng Wang,Lei Li,Yiming Li,Tao Kong,Ruihang Chu,Yifeng Li,Peng Wang,Lei Li
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects is available, or utilize a step-wise, multi-stage strategy to predict the feasible 6-DoF grasp poses. In this work, we propose to formalize the 6-DoF grasp pos...
