Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network

Code

• github.com/skumra/robotic-grasping
  OfficialIn paperpytorch★ 0
• github.com/skumra/baxter-pnp
  OfficialIn papernone★ 0
• github.com/SteveHao74/shahao_GR-ConvNet
  pytorch★ 0
• github.com/qingchenkanlu/new_grasp
  pytorch★ 0

Abstract

In this paper, we present a modular robotic system to tackle the problem of generating and performing antipodal robotic grasps for unknown objects from n-channel image of the scene. We propose a novel Generative Residual Convolutional Neural Network (GR-ConvNet) model that can generate robust antipodal grasps from n-channel input at real-time speeds (~20ms). We evaluate the proposed model architecture on standard datasets and a diverse set of household objects. We achieved state-of-the-art accuracy of 97.7% and 94.6% on Cornell and Jacquard grasping datasets respectively. We also demonstrate a grasp success rate of 95.4% and 93% on household and adversarial objects respectively using a 7 DoF robotic arm.

Tasks

Benchmark Results

Reproductions