Collision-Aware Target-Driven Object Grasping in Constrained Environments
Xibai Lou Yang Yang Changhyun Choi 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. Typical 6-DoF robotic grasping systems rely on the prior knowledge about the environment and intensive planning computation, which is ungeneralizable and inefficient. In contrast, we propose a nov...