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Learning Task-Orien...
Learning Task-Oriented Grasping From Human Activity Datasets
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- Kokic, Mia, 1992- (författare)
- KTH,Centrum för autonoma system, CAS,Robotik, perception och lärande, RPL
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- Kragic, Danica, 1971- (författare)
- KTH,Robotik, perception och lärande, RPL,Centrum för autonoma system, CAS
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- Bohg, Jeannette (författare)
- Stanford Univ, Dept Comp Sci, Stanford, CA 94305 USA.
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(creator_code:org_t)
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2020
- 2020
- Engelska.
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Ingår i: IEEE Robotics and Automation Letters. - : IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. - 2377-3766. ; 5:2, s. 3352-3359
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- We propose to leverage a real-world, human activity RGB dataset to teach a robot Task-Oriented Grasping (TOG). We develop a model that takes as input an RGB image and outputs a hand pose and configuration as well as an object pose and a shape. We follow the insight that jointly estimating hand and object poses increases accuracy compared to estimating these quantities independently of each other. Given the trained model, we process an RGB dataset to automatically obtain the data to train a TOG model. This model takes as input an object point cloud and outputs a suitable region for task-specific grasping. Our ablation study shows that training an object pose predictor with the hand pose information (and vice versa) is better than training without this information. Furthermore, our results on a real-world dataset show the applicability and competitiveness of our method over state-of-the-art. Experiments with a robot demonstrate that our method can allow a robot to preform TOG on novel objects.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Perception for grasping and manipulation
- grasping
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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