Robotic Grasping of Novel Objects

We consider the problem of grasping novel objects, specifically ones that are being seen for the first time through vision. We present a learning algorithm that neither requires, nor tries to build, a 3-d model of the object. Instead it predicts, directly as a function of the images, a point at which to grasp the object. Our algorithm is trained via supervised learning, using synthetic images for the training set. We demonstrate on a robotic manipulation platform that this approach successfully grasps a wide variety of objects, such as wine glasses, duct tape, markers, a translucent box, jugs, knife-cutters, cellphones, keys, screwdrivers, staplers, toothbrushes, a thick coil of wire, a strangely shaped power horn, and others, none of which were seen in the training set. Authors: Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Andrew Y. Ng (2007)
AUTHORED BY
Ashutosh Saxena
Justin Driemeyer
Justin Kearns
Andrew Y. Ng

Abstract

We consider the problem of grasping novel objects, specifically ones that are being seen for the first time through vision. We present a learning algorithm that neither requires, nor tries to build, a 3-d model of the object. Instead it predicts, directly as a function of the images, a point at which to grasp the object. Our algorithm is trained via supervised learning, using synthetic images for the training set. We demonstrate on a robotic manipulation platform that this approach successfully grasps a wide variety of objects, such as wine glasses, duct tape, markers, a translucent box, jugs, knife-cutters, cellphones, keys, screwdrivers, staplers, toothbrushes, a thick coil of wire, a strangely shaped power horn, and others, none of which were seen in the training set.

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