Value of Assistance for Grasping
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866929280544407552 |
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| author | Masarwy, Mohammad Goshen, Yuval Dovrat, David Keren, Sarah |
| author_facet | Masarwy, Mohammad Goshen, Yuval Dovrat, David Keren, Sarah |
| contents | In multiple realistic settings, a robot is tasked with grasping an object without knowing its exact pose and relies on a probabilistic estimation of the pose to decide how to attempt the grasp. We support settings in which it is possible to provide the robot with an observation of the object before a grasp is attempted but this possibility is limited and there is a need to decide which sensing action would be most beneficial. We support this decision by offering a novel Value of Assistance (VOA) measure for assessing the expected effect a specific observation will have on the robot's ability to complete its task. We evaluate our suggested measure in simulated and real-world collaborative grasping settings. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_14402 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Value of Assistance for Grasping Masarwy, Mohammad Goshen, Yuval Dovrat, David Keren, Sarah Robotics Artificial Intelligence In multiple realistic settings, a robot is tasked with grasping an object without knowing its exact pose and relies on a probabilistic estimation of the pose to decide how to attempt the grasp. We support settings in which it is possible to provide the robot with an observation of the object before a grasp is attempted but this possibility is limited and there is a need to decide which sensing action would be most beneficial. We support this decision by offering a novel Value of Assistance (VOA) measure for assessing the expected effect a specific observation will have on the robot's ability to complete its task. We evaluate our suggested measure in simulated and real-world collaborative grasping settings. |
| title | Value of Assistance for Grasping |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2310.14402 |