CenterArt: Joint Shape Reconstruction and 6-DoF Grasp Estimation of Articulated Objects

arXiv:2404.14968v1 Announce Type: cross
Abstract: Precisely grasping and reconstructing articulated objects is key to enabling general robotic manipulation. In this paper, we propose CenterArt, a novel approach for simultaneous 3D shape reconstruction and 6-DoF grasp estimation of articulated objects. CenterArt takes RGB-D images of the scene as input and first predicts the shape and joint codes through an encoder. The decoder then leverages these codes to reconstruct 3D shapes and estimate 6-DoF grasp poses of the objects. We further develop …

abstract arxiv cs.cv cs.ro enabling general grasping images key manipulation novel objects paper rgb-d robotic robotic manipulation type