1 code implementation • 13 Jul 2021 • Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk, Daniel S. Brown, Ashwin Balakrishna, Shirin Joshi, Eduardo M. C. Rocha, Eugen Solowjow, Ken Goldberg
In industrial part kitting, 3D objects are inserted into cavities for transportation or subsequent assembly.
no code implementations • 29 May 2021 • Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna, Harry Zhang, Ken Goldberg
We formulate a self-supervised objective for this problem and train a deep neural network to estimate the 3D rotation as parameterized by a quaternion, between these current and desired depth images.
no code implementations • 11 Nov 2020 • Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Shivin Devgon, Ken Goldberg
However, these policies can consistently fail to grasp challenging objects which are significantly out of the distribution of objects in the training data or which have very few high quality grasps.