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Generative Attention Learning (GenerAL) is a framework for high-DOF multi-fingered grasping that is not only robust to dense clutter and novel objects but also effective with a variety of different parallel-jaw and multi-fingered robot hands. This framework introduces a novel attention mechanism that substantially improves the grasp success rate in clutter. Its generative nature allows the learning of full-DOF grasps with flexible end-effector positions and orientations, as well as all finger joint angles of the hand. Trained purely in simulation, this framework skillfully closes the sim-to-real gap. To close the visual sim-to-real gap, this framework uses a single depth image as input. To close the dynamics sim-to-real gap, this framework circumvents continuous motor control with a direct mapping from pixel to Cartesian space inferred from the same depth image. Finally, this framework demonstrates inter-robot generality by achieving over 92% real-world grasp success rates in cluttered scenes with novel objects using two multi-fingered robotic hand-arm systems with different degrees of freedom.
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DIPN: Deep Interaction Prediction Network with Application to Clutter Removal
We propose a Deep Interaction Prediction Net- work (DIPN) for learning to predict complex interactions that ensue as a robot end-effector pushes multiple objects, whose physical properties, including size, shape, mass, and friction coefficients may be unknown a priori. DIPN “imagines” the effect of a push action and generates an accurate synthetic image of the predicted outcome. DIPN is shown to be sample efficient when trained in simulation or with a real robotic system. The high accuracy of DIPN allows direct integration with a grasp network, yielding a robotic manipulation system capable of executing challenging clutter removal tasks while being trained in a fully self-supervised manner. The overall network demonstrates intelligent behavior in selecting proper actions between push and grasp for completing clutter removal tasks and significantly outperforms the previous state-of-the- art. Remarkably, DIPN achieves even better performance on the real robotic hardware system than in simulation.
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- PAR ID:
- 10219061
- Date Published:
- Journal Name:
- IEEE International Conference on Robotics and Automation
- ISSN:
- 1049-3492
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
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