ECNNs: Ensemble Learning Methods for Improving Planar Grasp Quality Estimation
Fadi Alladkani James Akl Berk Calli Fadi Alladkani James Akl Berk Calli
We present an ensemble learning methodology that combines multiple existing robotic grasp synthesis algorithms and obtain a success rate that is significantly better than the individual algorithms. The methodology treats the grasping algorithms as "experts" providing grasp "opinions". An Ensemble Convolutional Neural Network (ECNN) is trained using a Mixture of Experts (MOE) model that integrates ...