Guangyun Xu — accepted AI-conference papers

2021

GPR: Grasp Pose Refinement Network for Cluttered Scenes

Wei Wei, Yongkang Luo, Fuyu Li, Guangyun Xu, Jun Zhong, Wanyi Li +1

ICRA 2021poster

Object grasping in cluttered scenes is a widely investigated field of robot manipulation. Most of the current works focus on estimating grasp pose from point clouds based on an efficient single-shot grasp detection network. However, due to the lack of geometry awareness of the local grasping area, i…

Cited by 39 Source ↗Scholar ↗

2021

POIS: Policy-Oriented Instance Segmentation for Ambidextrous Robot Picking

Guangyun Xu, Yi Tao, Bowen Jiang, Peng Wang, Yongkang Luo, Jun Zhong

ICRA 2021poster

Robots with a parallel-jaw gripper and suction cup is an adaptive and efficient robotic picking system. This paper proposed Policy-Oriented Instance Segmentation (POIS) for ambidextrous robots. POIS can generate a pair of target masks that allows ambidextrous robots to pick in parallel. It takes a d…

Cited by 5 Source ↗Scholar ↗