Robohub.org
 

Peter K. Allen: Multi-Modal Geometric Learning for Grasping | CMU RI Seminar

by
01 December 2018



share this:

Link to video on YouTube

Abstract: “In this talk, we will describe methods to enable robots to grasp novel objects using multi-modal data and machine. The starting point is an architecture to enable robotic grasp planning via shape completion using a single occluded depth view of objects. Shape completion is accomplished through the use of a 3D CNN. The network is trained on our open source dataset of over 440,000 3D exemplars captured from varying viewpoints. At runtime, a pointcloud captured from a single point of view is fed into the CNN, which fills in the occluded regions of the scene, allowing grasps to be planned and executed on the completed object, which extends to novel objects as well. We have extended this network to incorporate both depth and tactile information. Offline, the network is provided with both simulated depth and tactile information and trained to predict the object’s geometry, thus filling in regions of occlusion. At runtime, the network is provided a partial view of an object and exploratory tactile information is acquired to augment the captured depth information. We demonstrate that even small amounts of additional tactile information can be incredibly helpful in reasoning about object geometry. We also provide experimental results comparing grasping success using our method.”




John Payne





Related posts :



Robot Talk Episode 99 – Joe Wolfel

In the latest episode of the Robot Talk podcast, Claire chatted to Joe Wolfel from Terradepth about autonomous submersible robots for collecting ocean data.
22 November 2024, by

Robot Talk Episode 98 – Gabriella Pizzuto

In the latest episode of the Robot Talk podcast, Claire chatted to Gabriella Pizzuto from the University of Liverpool about intelligent robotic manipulators for laboratory automation.
15 November 2024, by

Online hands-on science communication training – sign up here!

Find out how to communicate about your work with experts from Robohub, AIhub, and IEEE Spectrum.
13 November 2024, by

Robot Talk Episode 97 – Pratap Tokekar

In the latest episode of the Robot Talk podcast, Claire chatted to Pratap Tokekar from the University of Maryland about how teams of robots with different capabilities can work together.
08 November 2024, by

Robot Talk Episode 96 – Maria Elena Giannaccini

In the latest episode of the Robot Talk podcast, Claire chatted to Maria Elena Giannaccini from the University of Aberdeen about soft and bioinspired robotics for healthcare and beyond.
01 November 2024, by

Robot Talk Episode 95 – Jonathan Walker

In the latest episode of the Robot Talk podcast, Claire chatted to Jonathan Walker from Innovate UK about translating robotics research into the commercial sector.
25 October 2024, by





Robohub is supported by:




Would you like to learn how to tell impactful stories about your robot or AI system?


scicomm
training the next generation of science communicators in robotics & AI


©2024 - Association for the Understanding of Artificial Intelligence


 












©2021 - ROBOTS Association