2022 IEEE 18th International Conference on Automation Science and Engineering (CASE) 2022
DOI: 10.1109/case49997.2022.9926708
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Towards Object Agnostic and Robust 4-DoF Table-Top Grasping

Abstract: This paper addresses category-agnostic instance segmentation for robotic manipulation, focusing on segmenting objects independent of their class to enable versatile applications like bin-picking in dynamic environments. Existing methods often lack generalizability and object-specific information, leading to grasp failures. We present a novel approach leveraging objectcentric instance segmentation and simulation-based training for effective transfer to real-world scenarios. Notably, our strategy overcomes chall… Show more

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Cited by 4 publications
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References 54 publications
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