Neural Grasp Distance Fields for Robot Manipulation
Thomas Weng,David Held,Franziska Meier,Mustafa Mukadam,Thomas Weng,David Held,Franziska Meier,Mustafa Mukadam
We formulate grasp learning as a neural field and present Neural Grasp Distance Fields (NGDF). Here, the input is a 6D pose of a robot end effector and output is a distance to a continuous manifold of valid grasps for an object. In contrast to current approaches that predict a set of discrete candidate grasps, the distance-based NGDF representation is easily interpreted as a cost, and minimizing t...
