VFAS-Grasp: Closed Loop Grasping with Visual Feedback and Adaptive Sampling
Pedro Piacenza,Jiacheng Yuan,Jinwook Huh,Volkan Isler,Pedro Piacenza,Jiacheng Yuan,Jinwook Huh,Volkan Isler
We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a set of candidate grasps by generating random perturbations of a seed grasp. The candidates are then scored using a novel metric which combines a learned grasp-qu...
