A graspability field learned from synthesized grasps provides a dense reward signal for an RL policy that performs closed-loop non-prehensile manipulation leading to successful grasps.
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Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics
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abstract
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 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 predicts the probability of success of grasps from depth images, where grasps are specified as the planar position, angle, and depth of a gripper relative to an RGB-D sensor. 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 0.8sec 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 Dex-Net 2.0 grasp planner also has the highest success rate on a dataset of 10 novel rigid objects and achieves 99% precision (one false positive out of 69 grasps classified as robust) on a dataset of 40 novel household objects, some of which are articulated or deformable. Code, datasets, videos, and supplementary material are available at http://berkeleyautomation.github.io/dex-net .
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A double-soft-belt finger module adds translation, pitch, and roll to parallel grippers for improved in-hand manipulation at low cost.
GraspGen-X extends diffusion 6-DOF grasping to cross-embodiment via swept-volume gripper encoding, trained on procedural grippers and 2B grasps, claiming best zero-shot generalization to novel grippers in sim and real tests.
HITL-D combines diffusion policies with human input for shared robotic control, reducing required joystick axes and improving speed and workload in manipulation tasks per a 12-participant study.
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Hybrid EBM-ICP grasp synthesis via SVGD reports 60.9% success on 67 objects with 5360 attempts, outperforming AnyGrasp, GPD, and AS-ICP baselines.
PointACT proposes a 3D-aware dual-system VLA policy using multi-scale point-action interaction with bottleneck window self-attention, achieving 10% higher success rates on RLBench-10Tasks over prior pretrained VLAs.
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Research agenda posing questions on open-ended object perception and grasping for robots that learn categories and affordances gradually from experiences rather than from complete upfront training sets.
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