Generating Future Observations to Estimate Grasp Success in Cluttered Environments

arXiv:2403.07877v1 Announce Type: cross
Abstract: End-to-end self-supervised models have been proposed for estimating the success of future candidate grasps and video predictive models for generating future observations. However, none have yet studied these two strategies side-by-side for addressing the aforementioned grasping problem. We investigate and compare a model-free approach, to estimate the success of a candidate grasp, against a model-based alternative that exploits a self-supervised learnt predictive model that generates a future observation of the gripper about to grasp an …

abstract arxiv cs.cv cs.ro environments free future grasping however predictive predictive models strategies success type video