Affiliation:
1. Intelligent Robotics Lab, University of Birmingham, Birmingham, West Midlands, B15 2TT, UK
2. Robotics Institute, Department of Electronic and Computer Engineering, HKUST Hongkong, P. R. China
Abstract
Dexterous grasping of a novel object given a single view is an open problem. This paper makes several contributions to its solution. First, we present a simulator for generating and testing dexterous grasps. Second, we present a dataset, generated by this simulator, of 2.4 million simulated dexterous grasps of variations of 294 base objects drawn from 20 categories. Third, we combine an existing approach to learn a grasp generation model with three different learned evaluative models employing ResNet-50 or VGG16 as their visual backbone. Fourth, we train, and evaluate 17 variants of the resulting generative-evaluative architectures on the simulated dataset, showing improvement from 69.53% grasp success rate to 90.49%. Fifth, we present a real robot implementation and evaluate the four most promising variants, executing 196 real robot grasps in total. We show that our best architectural variant achieves a grasp success rate of 87.8% on real novel objects seen from a single view, improving on a baseline of 57.1%. Finally, we explore the inner workings of our best evaluative model and perform an extensive analysis of its results on the simulated dataset.
Publisher
World Scientific Pub Co Pte Ltd
Subject
Artificial Intelligence,Mechanical Engineering
Cited by
6 articles.
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