Online Tool Selection with Learned Grasp Prediction Models
Khashayar Rohanimanesh,Jake Metzger,William Richards,Aviv Tamar,Khashayar Rohanimanesh,Jake Metzger,William Richards,Aviv Tamar
Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped on-the-fly, based on the target object. Tool-change, however, takes time. Choosing the order of grasps to perform, and corresponding tool-change actions, can improve sys...
