POIS: Policy-Oriented Instance Segmentation for Ambidextrous Robot Picking
Guangyun Xu Yi Tao Bowen Jiang Peng Wang Yongkang Luo Jun Zhong Guangyun Xu Yi Tao Bowen Jiang Peng Wang Yongkang Luo Jun Zhong
Robots with a parallel-jaw gripper and suction cup is an adaptive and efficient robotic picking system. This paper proposed Policy-Oriented Instance Segmentation (POIS) for ambidextrous robots. POIS can generate a pair of target masks that allows ambidextrous robots to pick in parallel. It takes a depth image and predicts initial mask, center offset, and policy confidence map through three paralle...