X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions
Michael Danielczuk,Anelia Angelova,Vincent Vanhoucke,Ken Goldberg,Michael Danielczuk,Anelia Angelova,Vincent Vanhoucke,Ken Goldberg
For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. For mechanical search, we introduce X-Ray, an algorithm based on learned occupancy distributions. We train a neural network using a synthetic dataset of RGBD heap images labeled for a set of standard bounding box targets with vary...
