2024
Sim-to-Real Grasp Detection with Global-to-Local RGB-D Adaptation
ICRA 2024poster
This paper focuses on the sim-to-real issue of RGB-D grasp detection and formulates it as a domain adaptation problem. In this case, we present a global-to-local method to address hybrid domain gaps in RGB and depth data and insufficient multi-modal feature alignment. First, a self-supervised rotati…