Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes

arXiv:2403.18546v1 Announce Type: cross
Abstract: Fast and robust object grasping in clutter is a crucial component of robotics. Most current works resort to the whole observed point cloud for 6-Dof grasp generation, ignoring the guidance information excavated from global semantics, thus limiting high-quality grasp generation and real-time performance. In this work, we show that the widely used heatmaps are underestimated in the efficiency of 6-Dof grasp generation. Therefore, we propose an effective local grasp generator combined with grasp heatmaps as …

arxiv cs.ai cs.cv cs.ro detection heatmap type