Shangjin Xie

2 accepted papers

2023

Grasp Region Exploration for 7-DoF Robotic Grasping in Cluttered Scenes

Zibo Chen, Zhixuan Liu, Shangjin Xie, Wei-Shi Zheng

IROS 2023poster

Robotic grasping is a fundamental skill for robots, but it is quite challenging in cluttered scenes. In cluttered scenes, the precise prediction of high-quality grasp configurations such as rotation and grasping width while avoiding collisions is essential. To accomplish this, the grasp detection mo…

Cited by 7 Source ↗Scholar ↗

2022

TransGrasp: A Multi-Scale Hierarchical Point Transformer for 7-DoF Grasp Detection

Zhixuan Liu, Zibo Chen, Shangjin Xie, Wei–Shi Zheng

ICRA 2022poster

Robotic grasping pose detection that predicts the configuration of the robotic gripper for object grasping is fundamental in robot manipulation. Based on point clouds, most of the existing methods predict grasp pose with the hierarchical PointNet++ backbone, while the non-local geometric information…

Cited by 29 Source ↗Scholar ↗