Transferable Active Grasping and Real Embodied Dataset
Xiangyu Chen,Zelin Ye,Jiankai Sun,Yuda Fan,Fang Hu,Chenxi Wang,Cewu Lu,Xiangyu Chen,Zelin Ye,Jiankai Sun,Yuda Fan,Fang Hu,Chenxi Wang,Cewu Lu
Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible viewpoints for grasping by the use of hand-mounted RGB-D cameras. To overcome the disadvantages of photo-realistic environment simulation, we propose a large-s...
