Jasmined Hsu

Learning 6-DOF Grasping Interaction via Deep Geometry-Aware 3D Representations

This paper focuses on the problem of learning 6- DOF grasping with a parallel jaw gripper in simulation. Our key idea is constraining and regularizing grasping interaction learning through 3D geometry prediction. We introduce a deep geometry-aware grasping network (DGGN) that decomposes the learning…