Attribute-Based Robotic Grasping with One-Grasp Adaptation
Yang Yang Yuanhao Liu Hengyue Liang Xibai Lou Changhyun Choi Yang Yang Yuanhao Liu Hengyue Liang Xibai Lou Changhyun Choi
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the challenge by leveraging object attributes that facilitate recognition, grasping, and quick adaptation. In this work, we introduce an end-to-end learning method...