{"paper":{"title":"Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Arul Selvam Periyasamy, Christian Lenz, Germ\\'an Mart\\'in Garc\\'ia, Max Schwarz, Michael Schreiber, Seongyong Koo, Sven Behnke","submitted_at":"2018-10-06T10:49:59Z","abstract_excerpt":"Robotic picking from cluttered bins is a demanding task, for which Amazon Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required stowing items into a storage system, picking specific items, and packing them into boxes. In this paper, we describe the entry of team NimbRo Picking. Our deep object perception pipeline can be quickly and efficiently adapted to new items using a custom turntable capture system and transfer learning. It produces high-quality item segments, on which grasp poses are found. A planning component coordinates manipulation actions between two robot arm"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.02977","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}