Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance
Zhanpeng He,Nikhil Chavan-Dafle,Jinwook Huh,Shuran Song,Volkan Isler,Zhanpeng He,Nikhil Chavan-Dafle,Jinwook Huh,Shuran Song,Volkan Isler
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this paper, we study the synergy between the picking and placing of an object in a cluttered scene to develop an algorithm for task-aware grasp estimation. We present...
