Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and occlusions in the cluttered scenario cause significant difficulties to generate valid grasp poses without collisions, which results in low efficiency and high failure rates. To address these, we present a generic framework called GE-Grasp for robotic motion planning in dense clutter, where we leverage diverse action primitives for occluded object removal and present the generator-evaluator architecture to avoid spatial collisions. Therefore, our GE-Grasp is capable of grasping objects in dense clutter efficiently with promising success rates. Specifically, we define three action primitives: target-oriented grasping for target capturing, pushing, and nontarget-oriented grasping to reduce the crowdedness and occlusions. The generators effectively provide various action candidates referring to the spatial information. Meanwhile, the evaluators assess the selected action primitive candidates, where the optimal action is implemented by the robot. Extensive experiments in simulated and real-world environments show that our approach outperforms the state-of-the-art methods of grasping in clutter with respect to motion efficiency and success rates. Moreover, we achieve comparable performance in the real world as that in the simulation environment, which indicates the strong generalization ability of our GE-Grasp. Supplementary material is available at: https://github.com/CaptainWuDaoKou/GE-Grasp.
翻译:在密密密的悬崖中进行机械运动规划的GE-Grasp在密密的悬崖布局中,是自主机器人的根本技能。然而,杂乱的假设情景中的拥挤和封闭性能够有效捕捉密集的物体,从而在不发生碰撞的情况下产生有效捕捉、不发生碰撞的重大困难。为了解决这些问题,我们提出了一个通用框架,称为GE-Grasp,用于在密密乱的悬崖中进行机器人运动规划,我们利用各种行动原始来清除隐蔽的物体,并展示发电机-蒸发器结构,以避免空间碰撞。因此,我们的GE-Grasp能够有效地捕捉紧紧紧紧紧紧紧紧紧紧紧紧紧紧紧紧紧紧紧紧紧紧地紧紧紧紧紧紧地紧紧地紧紧紧地紧紧紧紧紧地紧紧地紧紧地紧紧紧地紧紧紧地紧紧地紧地紧地紧紧地紧地紧紧紧紧地紧地紧地紧紧地紧紧地紧地紧地紧紧地紧地紧地紧紧紧地紧地紧地紧地紧地抓住地紧紧紧紧紧紧地紧地抓住地抓住地抓住地抓住着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着,在着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着着