AGILE: Approach-based Grasp Inference Learned from Element Decomposition

Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal way according to how the gripper has approached the object. Built on deep learning, the proposed method consists of two main stages. In order to generalize the network on unseen objects, the proposed Approach-based Grasping Inference involves an element decomposition stage to split …

agile cs.cv cs.ro cs.sy deep learning detection eess.sy element expert humans inference information learn objects robot work