Learning Food Picking without Food: Fracture Anticipation by Breaking Reusable Fragile Objects
Rinto Yagawa,Reina Ishikawa,Masashi Hamaya,Kazutoshi Tanaka,Atsushi Hashimoto,Hideo Saito,Rinto Yagawa,Reina Ishikawa,Masashi Hamaya,Kazutoshi Tanaka,Atsushi Hashimoto,Hideo Saito
Food picking is trivial for humans but not for robots, as foods are fragile. Presetting foods' physical properties does not help robots much due to the objects' inter- and intra-category diversity. A recent study proved that learning-based fracture anticipation with tactile sensors could overcome this problem; however, the method trains the model for each food to deal with intra-category differenc...
