Uncertainty-aware Self-supervised Target-mass Grasping of Granular Foods
Kuniyuki Takahashi Wilson Ko Avinash Ummadisingu Shin-ichi Maeda Kuniyuki Takahashi Wilson Ko Avinash Ummadisingu Shin-ichi Maeda
Food packing industry workers typically pick a target amount of food by hand from a food tray and place them in containers. Since menus are diverse and change frequently, robots must adapt and learn to handle new foods in a short time-span. Learning to grasp a specific amount of granular food requires a large training dataset, which is challenging to collect reasonably quickly. In this study, we p...