Learning 6-DoF Fine-grained Grasp Detection Based on Part Affordance Grounding

arXiv:2301.11564v2 Announce Type: replace-cross
Abstract: Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise grasping which is related to fine-grained grasping and robotic affordance. Parts can be seen as atomic elements to compose an object, which contains rich semantic knowledge and a strong correlation with affordance. However, lacking a large …

arxiv cs.cl cs.cv cs.hc cs.ro detection fine-grained part replace type