Data-efficient learning of object-centric grasp preferences
Yoann Fleytoux,
Anji Ma,
Serena Ivaldi
et al.
Abstract:Grasping made impressive progress during the last few years thanks to deep learning. However, there are many objects for which it is not possible to choose a grasp by only looking at an RGB-D image, might it be for physical reasons (e.g., a hammer with uneven mass distribution) or task constraints (e.g., food that should not be spoiled). In such situations, the preferences of experts need to be taken into account.In this paper, we introduce a data-efficient grasping pipeline (Latent Space GP Selector -LGPS) th… Show more
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