Multi-modal Transfer Learning for Grasping Transparent and Specular Objects

29 May 2020Thomas WengAmith PallankizeYimin TangOliver KroemerDavid Held

State-of-the-art object grasping methods rely on depth sensing to plan robust grasps, but commercially available depth sensors fail to detect transparent and specular objects. To improve grasping performance on such objects, we introduce a method for learning a multi-modal perception model by bootstrapping from an existing uni-modal model... (read more)

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