GPR: Grasp Pose Refinement Network for Cluttered Scenes
Wei Wei Yongkang Luo Fuyu Li Guangyun Xu Jun Zhong Wanyi Li Peng Wang Wei Wei Yongkang Luo Fuyu Li Guangyun Xu Jun Zhong Wanyi Li Peng Wang
Object grasping in cluttered scenes is a widely investigated field of robot manipulation. Most of the current works focus on estimating grasp pose from point clouds based on an efficient single-shot grasp detection network. However, due to the lack of geometry awareness of the local grasping area, it may cause severe collisions and unstable grasp configurations. In this paper, we propose a two-sta...