Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching

Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching

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This article presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel o...

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Bibliographic Details
Main Authors: Zeng, Andy, Song, Shuran, Yu, Kuan-Ting, Donlon, Elliott S, Hogan, Francois R., Bauza Villalonga, Maria, Ma, Daolin, Taylor, Orion Thomas, Liu, Melody, Romo, Eudald, Fazeli, Nima, Alet, Ferran, Chavan Dafle, Nikhil Narsingh, Holladay, Rachel, Morona, Isabella, Nair, Prem Qu, Green, Druck, Taylor, Ian, Liu, Weber, Funkhouser, Thomas, Rodriguez, Alberto
Other Authors: Massachusetts Institute of Technology. Department of Mechanical Engineering
Format: Article
Language:English
Published: SAGE Publications 2021
Online Access:https://hdl.handle.net/1721.1/130311

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