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GraspAda: Deep Gras...
GraspAda: Deep Grasp Adaptation through Domain Transfer
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- Chen, Yiting (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Jiang, Junnan (författare)
- Wuhan University
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- Lei, Ruiqi (författare)
- Tsinghua University
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- Bekiroglu, Yasemin, 1982 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Chen, Fei (författare)
- The Chinese University of Hong Kong, Shenzhen
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- Li, Miao (författare)
- Wuhan University
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(creator_code:org_t)
- ISBN 9798350323658
- 2023
- 2023
- Engelska.
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Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - 1050-4729. - 9798350323658 ; 2023-May
- Relaterad länk:
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https://doi.org/10.1...
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https://research.cha...
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Abstract
Ämnesord
Stäng
- Learning-based methods for robotic grasping have been shown to yield high performance. However, they rely on expensive-to-acquire and well-labeled datasets. In addition, how to generalize the learned grasping ability across different scenarios is still unsolved. In this paper, we present a novel grasp adaptation strategy to transfer the learned grasping ability to new domains based on visual data using a new grasp feature representation. We present a conditional generative model for visual data transformation. By leveraging the deep feature representational capacity from the well-trained grasp synthesis model, our approach utilizes feature-level contrastive representation learning and adopts adversarial learning on output space. This way we bridge the domain gap between the new domain and the training domain while keeping consistency during the adaptation process. Based on transformed input grasp data via the generator, our trained model can generalize to new domains without any fine-tuning. The proposed method is evaluated on benchmark datasets and based on real robot experiments. The results show that our approach leads to high performance in new scenarios.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Språkteknologi (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Language Technology (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Nyckelord
- Deep Learning
- robotic grasping
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
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