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Picking out the Impurities: Attention-based Push-Grasping in Dense Clutter

文献类型：期刊论文

作者Lu, Ning3; Cai, Yinghao1; Lu, Tao1; Cao, Xiaoge1; Guo, Weiyan1; Wang, Shuo1,2
刊名ROBOTICA
出版日期2022-03-25
页码16
关键词saliency Detection robot Learning push-grasp target-oriented Grasping deep Q Network
ISSN号0263-5747
DOI10.1017/S0263574722000297
通讯作者Lu, Tao(tao.lu@ia.ac.cn)
英文摘要"Picking out the impurities" is a typical scenario in production line which is both time consuming and laborious. In this article, we propose a target-oriented robotic push-grasping system which is able to actively discover and pick the impurities in dense environments with the synergies between pushing and grasping actions. First, we propose an attention module, which includes target saliency detection and density-based occluded-region inference. Without the necessity of expensive labeling of semantic segmentation, our attention module can quickly locate the targets in the view or predict the candidate regions where the targets are most likely to be occluded. Second, we propose a push-grasp synergy framework to sequentially select proper actions in different situations until all targets are picked out. Moreover, we introduce an active pushing mechanism based on a novel metric, namely Target-Centric Dispersion Degree (TCDD) for better grasping. TCDD describes whether the targets are isolated from the surrounding objects. With this metric, the robot becomes more focused on the actions around the targets and push irrelevant objects away. Experimental results on both simulated environment and real-world environment show that our proposed system outperforms several baseline approaches,which also has the capability to be generalized to new scenarios.
WOS关键词MODEL
资助项目National Key R&D Program of China[2019YFB1311901] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000773134800001
出版者CAMBRIDGE UNIV PRESS
资助机构National Key R&D Program of China ; National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/48189]  
专题智能机器人系统研究
通讯作者Lu, Tao
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China
3.China Waterborne Transport Res Inst, Beijing 100088, Peoples R China
推荐引用方式
GB/T 7714		 Lu, Ning,Cai, Yinghao,Lu, Tao,et al. Picking out the Impurities: Attention-based Push-Grasping in Dense Clutter[J]. ROBOTICA,2022:16.
APA Lu, Ning,Cai, Yinghao,Lu, Tao,Cao, Xiaoge,Guo, Weiyan,&Wang, Shuo.(2022).Picking out the Impurities: Attention-based Push-Grasping in Dense Clutter.ROBOTICA,16.
MLA Lu, Ning,et al."Picking out the Impurities: Attention-based Push-Grasping in Dense Clutter".ROBOTICA (2022):16.

入库方式： OAI收割

来源：自动化研究所

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