Richard Doan

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics

To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6.7 million point clouds, grasps, and robust analytic grasp metrics generated from thousands of 3D models from Dex-Net 1.0 in randomized poses on a table. We use the resul…