59,065 research outputs found

    Affordance-Driven Next-Best-View Planning for Robotic Grasping

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    Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy (ACE-NBV) that tries to find a feasible grasp for target object via continuously observing scenes from new viewpoints. This policy is motivated by the observation that the grasp affordances of an occluded object can be better-measured under the view when the view-direction are the same as the grasp view. Specifically, our method leverages the paradigm of novel view imagery to predict the grasps affordances under previously unobserved view, and select next observation view based on the highest imagined grasp quality of the target object. The experimental results in simulation and on a real robot demonstrate the effectiveness of the proposed affordance-driven next-best-view planning policy. Project page: https://sszxc.net/ace-nbv/.Comment: Conference on Robot Learning (CoRL) 202

    Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

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    Robotic picking from cluttered bins is a demanding task, for which Amazon Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required stowing items into a storage system, picking specific items, and packing them into boxes. In this paper, we describe the entry of team NimbRo Picking. Our deep object perception pipeline can be quickly and efficiently adapted to new items using a custom turntable capture system and transfer learning. It produces high-quality item segments, on which grasp poses are found. A planning component coordinates manipulation actions between two robot arms, minimizing execution time. The system has been demonstrated successfully at ARC, where our team reached second places in both the picking task and the final stow-and-pick task. We also evaluate individual components.Comment: In: Proceedings of the International Conference on Robotics and Automation (ICRA) 201
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