Real-Time Generative Grasping with Spatio-temporal Sparse Convolution
Timothy R. Player,Dongsik Chang,Li Fuxin,Geoffrey A. Hollinger,Timothy R. Player,Dongsik Chang,Li Fuxin,Geoffrey A. Hollinger
Robots performing mobile manipulation in unstructured environments must identify grasp affordances quickly and with robustness to perception noise. Yet in domains such as underwater manipulation, where perception noise is severe, computation is constrained, and the environment is dynamic, existing techniques fail. They are too computationally demanding, or too sensitive to noise to allow for close...
