Real-Time Grasp Detection Using Convolutional Neural Networks

Code

• github.com/DucTranVan/grasp-detection-pytorch
  pytorch★ 22
• github.com/hamed-hosseini/ggcnn
  pytorch★ 0
• github.com/571502680/robot-grasp-detection
  tf★ 0

Abstract

We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal techniques. The model outperforms state-of-the-art approaches by 14 percentage points and runs at 13 frames per second on a GPU. Our network can simultaneously perform classification so that in a single step it recognizes the object and finds a good grasp rectangle. A modification to this model predicts multiple grasps per object by using a locally constrained prediction mechanism. The locally constrained model performs significantly better, especially on objects that can be grasped in a variety of ways.

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Reproductions