no code implementations • 9 Oct 2019 • Hengyue Liang, Xibai Lou, Yang Yang, Changhyun Choi
This Slide-to-Wall grasping task assumes no prior knowledge except the partial observation of a target object.
no code implementations • 14 Oct 2019 • Xibai Lou, Yang Yang, Changhyun Choi
Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates feasible 6-DoF grasp poses in unrestricted workspace with reachability awareness.
no code implementations • 1 Apr 2021 • Xibai Lou, Yang Yang, Changhyun Choi
Grasping a novel target object in constrained environments (e. g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures.
no code implementations • 6 Apr 2021 • Yang Yang, YuanHao Liu, Hengyue Liang, Xibai Lou, Changhyun Choi
In this work, we introduce an end-to-end learning method of attribute-based robotic grasping with one-grasp adaptation capability.