QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity
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arXiv
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| Autori principali: | , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866912056684314624 |
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| author | Huber, Johann Hélénon, François Kappel, Mathilde Páez-Ubieta, Ignacio de Loyola Puente, Santiago T. Gil, Pablo Amar, Faïz Ben Doncieux, Stéphane |
| author_facet | Huber, Johann Hélénon, François Kappel, Mathilde Páez-Ubieta, Ignacio de Loyola Puente, Santiago T. Gil, Pablo Amar, Faïz Ben Doncieux, Stéphane |
| contents | Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets to learn to grasp unknown objects. However, those datasets were generated using simple grasp sampling methods using priors. Recently, Quality-Diversity (QD) algorithms have been proven to make grasp sampling significantly more efficient. In this work, we extend QDG-6DoF, a QD framework for generating object-centric grasps, to scale up the production of synthetic grasping datasets. We propose a data augmentation method that combines the transformation of object meshes with transfer learning from previous grasping repertoires. The conducted experiments show that this approach reduces the number of required evaluations per discovered robust grasp by up to 20%. We used this approach to generate QDGset, a dataset of 6DoF grasp poses that contains about 3.5 and 4.5 times more grasps and objects, respectively, than the previous state-of-the-art. Our method allows anyone to easily generate data, eventually contributing to a large-scale collaborative dataset of synthetic grasps. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_02319 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity Huber, Johann Hélénon, François Kappel, Mathilde Páez-Ubieta, Ignacio de Loyola Puente, Santiago T. Gil, Pablo Amar, Faïz Ben Doncieux, Stéphane Robotics Machine Learning Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets to learn to grasp unknown objects. However, those datasets were generated using simple grasp sampling methods using priors. Recently, Quality-Diversity (QD) algorithms have been proven to make grasp sampling significantly more efficient. In this work, we extend QDG-6DoF, a QD framework for generating object-centric grasps, to scale up the production of synthetic grasping datasets. We propose a data augmentation method that combines the transformation of object meshes with transfer learning from previous grasping repertoires. The conducted experiments show that this approach reduces the number of required evaluations per discovered robust grasp by up to 20%. We used this approach to generate QDGset, a dataset of 6DoF grasp poses that contains about 3.5 and 4.5 times more grasps and objects, respectively, than the previous state-of-the-art. Our method allows anyone to easily generate data, eventually contributing to a large-scale collaborative dataset of synthetic grasps. |
| title | QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity |
| topic | Robotics Machine Learning |
| url | https://arxiv.org/abs/2410.02319 |