PhyGrasp: Generalizing Robotic Grasping with Physics-informed Large Multimodal Models PhyGrasp通过物理信息的大型多模态模型泛化机器人抓取 更多内容关注公众号: AIRoobt 作者对模型的介绍及效果: 摘要:…
B. 有一半的数据是随机采样的,成功率有10~30%,剩余数据是用最新的网络来采样。有点想模仿学习的Dagger。 C. 采样过程中,网络一共更新了4次。这是重要的数据哦。
The information about the constraints can be used to select from multiple possible grasping options, such as by eliminating options that conflict with the constraints or preferring options that outperform others given the constraints.Parris S. Wellman...
Although the grasping experiments conducted so far are preliminary, we were able to discover interesting features of the grasps generated by the human using the robot as an extension of the body, albeit the different kinematics of the robot. The data indicates that the human operator positioned ...
代码地址:https://github.com/skumra/robotic-grasping 摘要:-在本文中,该文提出了一个模块化的机器人系统来解决从场景n通道图像中生成和执行对跖机器人抓取未知物体的问题。我们提出了一种新的生成残差卷积神经网络(GR-Convnet),可以实时(~20ms)下从N通道输入生成鲁棒的对跖抓取。该文在标准数据集和不同家庭对...
Robotic grasping is a challenging problem involving percep- tion, planning, and control. Some recent works [33, 35, 13, 41] address the perception aspect of this problem by converting it into a detection problem where, given a noisy, partial view of ...
$ git clone https://github.com/skumra/robotic-grasping.git Create a virtual environment $ python3.6 -m venv --system-site-packages venv Source the virtual environment $sourcevenv/bin/activate Install the requirements $cdrobotic-grasping $ pip install -r requirements.txt ...
Vision is one of the most important ways to solve robotic grasping problem. We propose a framework that can help the robot grasp target object in multi-object scenes based on visual reasoning, which includes two stages: Perception and execution. During percetion stage, our proposed framework incl...
摘要: Extended the robot skill synthesis via human learning paradigm to grasping actions. Discovered features generated by humans using the robot as an extension of the body. Exploiting human capacity to learn control tasks for synthesizing robot behaviors....
【亮点报告】张家梁:DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation Robotic dexterous grasping is crucial for human-like manipulation. But it is under-explored due to the lack of a largescale dataset. In this work, we present DexGraspNet, a ...