Instance-wise Grasp Synthesis for Robotic Grasping
Yucheng Xu,Mohammadreza Kasaei,Hamidreza Kasaei,Zhibin Li,Yucheng Xu,Mohammadreza Kasaei,Hamidreza Kasaei,Zhibin Li
Generating high-quality instance-wise grasp con-figurations provides critical information of how to grasp specific objects in a multi-object environment and is of high importance for robot manipulation tasks. This work proposed a novel Single-Stage Grasp (SSG) synthesis network, which performs high-quality instance-wise grasp synthesis in a single stage: instance mask and grasp configurations are ...
