Learning suction graspability considering grasp quality and robot reachability for bin-picking

no code implementations • 4 Nov 2021 • Ping Jiang, Junji Oaki, Yoshiyuki Ishihara, Junichiro Ooga, Haifeng Han, Atsushi Sugahara, Seiji Tokura, Haruna Eto, Kazuma Komoda, Akihito Ogawa

To address this problem, images were generated by a physical simulator, and a physically inspired model (e. g., a contact model between a suction vacuum cup and object) was used as a grasp quality evaluation metric to annotate the synthesized images.

Decoder Metric Learning +1