Abstract

Reliable object grasping is a crucial capability for autonomous robots. However, many existing grasping approaches focus on general clutter removal without explicitly modeling objects and thus only relying on the visible local geometry. We introduce CenterGrasp, a novel framework that combines object awareness and holistic grasping. CenterGrasp learns a general object prior by encoding shapes and valid grasps in a continuous latent space. It consists of an RGB-D image encoder that leverages recent advances to detect objects and infer their pose and latent code, and a decoder to predict shape and grasps for each object in the scene. We perform extensive experiments on simulated as well as real-world cluttered scenes and demonstrate strong scene reconstruction and 6-DoF grasp-pose estimation performance. Compared to the state of the art, CenterGrasp achieves an improvement of 38.5 mm in shape reconstruction and 33 percentage points on average in grasp success. We make the code and trained models publicly available at http://centergrasp.cs.uni-freiburg.de.

Teaser Video

Full Presentation Video

Code

For academic usage a software implementation of this project based on PyTorch can be found in our GitHub repository and is released under the GPLv3 license. For any commercial purpose, please contact the authors. You can download the pretrained models and generated data below.

Publications

If you find our work useful, please consider citing our paper:

Eugenio Chisari, Nick Heppert, Tim Welschehold, Wolfram Burgard, Abhinav Valada

CenterGrasp: Object-Aware Implicit Representation Learning for Simultaneous Shape Reconstruction and 6-DoF Grasp Estimation
IEEE Robotics and Automation Letters (RA-L), 2024.
(PDF) (BibTeX)

Authors

Eugenio Chisari

Eugenio Chisari

University of Freiburg

Nick Heppert

Nick Heppert

University of Freiburg

Tim Welschehold

Tim Welschehold

University of Freiburg

Wolfram Burgard

Wolfram Burgard

University of Technology Nuremberg

Abhinav Valada

Abhinav Valada

University of Freiburg