Robot learns shifting actions that directly boost grasping probability in clutter, trained on 25k grasps and 2.5k shifts, achieving 274 picks per hour in bin picking and generalizing to novel objects.
Planning pre-grasp manipulation for transport tasks,
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Robot Learning of Shifting Objects for Grasping in Cluttered Environments
Robot learns shifting actions that directly boost grasping probability in clutter, trained on 25k grasps and 2.5k shifts, achieving 274 picks per hour in bin picking and generalizing to novel objects.