DexNet 2.0: 99% Precision Grasping

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Published at : 16 Dec 2020
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UC Berkeley AUTOLAB
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Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point

Clouds and Analytic Grasp Metrics. Jeffrey Mahler, Jacky Liang,
Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio
Ojea, Ken Goldberg UC Berkeley

Contact: Ken Goldberg, goldberg@berkeley.edu
Jeff Mahler, jmahler@berkeley.edu

Paper Draft:
https://arxiv.org/abs/1703.09312

To Appear: Robotics: Science and Systems (RSS) Conference, MIT, July 2017

To reduce data collection time for deep learning of robust robotic
grasp plans, we explore training from a synthetic dataset of 6.7
million point clouds, grasps, and robust analytic grasp metrics
generated from thousands of 3D models from Dex-Net 1.0 in randomized poses on a table. We use the resulting dataset, Dex-Net 2.0, to train a Grasp Quality Convolutional Neural Network (GQ-CNN) model that rapidly classifies grasps as robust from depth images and the position, angle, and height of the gripper above a table. Experiments with over 1,000 trials on an ABB YuMi comparing grasp planning methods on singulated objects suggest that a GQ-CNN trained with only synthetic data from Dex-Net 2.0 can be used to plan grasps in 0.8s with a success rate of 93% on eight known objects with adversarial geometry and is 3x faster than registering point clouds to a precomputed dataset of objects and indexing grasps. The GQ-CNN is also the highest performing method on a dataset of ten novel household objects, achieving 99% precision on test objects.


Video by: Adriel Olmos, CITRIS Media
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CITRIS and the Banatao Institute
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