Value of Assistance for Grasping
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.
PDF AbstractTasks
Datasets
Add Datasets
introduced or used in this paper
Results from the Paper
Submit
results from this paper
to get state-of-the-art GitHub badges and help the
community compare results to other papers.
Methods
No methods listed for this paper. Add
relevant methods here
