# VGQ-CNN: Moving Beyond Fixed Cameras and Top-Grasps for Grasp Quality Prediction

arXiv: https://arxiv.org/abs/2203.04874 · HTML: https://mlsanity.com/paper/2203.04874/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 20 of its 34 references that are in the map.
- First posted on arXiv 9 Mar 2022.

## Builds on (most cited first, 20 of 20)

- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [Object Detection with Deep Learning: A Review](https://mlsanity.com/paper/1807.05511/) (2018)
- [Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection](https://mlsanity.com/paper/1603.02199/) (2016)
- [Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics](https://mlsanity.com/paper/1703.09312/) (2017)
- [6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](https://mlsanity.com/paper/1905.10520/) (2019)
- [Deep Learning for Detecting Robotic Grasps](https://mlsanity.com/paper/1301.3592/) (2013)
- [Grasp Pose Detection in Point Clouds](https://mlsanity.com/paper/1706.09911/) (2017)
- [Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations](https://mlsanity.com/paper/1912.04344/) (2019)
- [Data-Driven Grasp Synthesis - A Survey](https://mlsanity.com/paper/1309.2660/) (2013)
- [Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter](https://mlsanity.com/paper/2101.01132/) (2021)
- [Jacquard: A Large Scale Dataset for Robotic Grasp Detection](https://mlsanity.com/paper/1803.11469/) (2018)
- [Shape Completion Enabled Robotic Grasping](https://mlsanity.com/paper/1609.08546/) (2016)
- [Real-Time Grasp Detection Using Convolutional Neural Networks](https://mlsanity.com/paper/1412.3128/) (2014)
- [EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation](https://mlsanity.com/paper/2003.01314/) (2020)
- [Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network](https://mlsanity.com/paper/1909.04810/) (2019)
- [Learning a visuomotor controller for real world robotic grasping using simulated depth images](https://mlsanity.com/paper/1706.04652/) (2017)
- [Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning](https://mlsanity.com/paper/1709.06670/) (2017)
- [6-DoF Contrastive Grasp Proposal Network](https://mlsanity.com/paper/2103.15995/) (2021)
- [Beyond Top-Grasps Through Scene Completion](https://mlsanity.com/paper/1909.12908/) (2019)
- [Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives](https://mlsanity.com/paper/2103.12810/) (2021)

## Built on by (most cited first, 1 of 1)

- [GP-net: Flexible Viewpoint Grasp Proposal](https://mlsanity.com/paper/2209.10404/) (2022)

## Abstract (arXiv)

We present the Versatile Grasp Quality Convolutional Neural Network (VGQ-CNN), a grasp quality prediction network for 6-DOF grasps. VGQ-CNN can be used when evaluating grasps for objects seen from a wide range of camera poses or mobile robots without the need to retrain the network. By defining the grasp orientation explicitly as an input to the network, VGQ-CNN can evaluate 6-DOF grasp poses, moving beyond the 4-DOF grasps used in most image-based grasp evaluation methods like GQ-CNN. To train VGQ-CNN, we generate the new Versatile Grasp dataset (VG-dset) containing 6-DOF grasps observed from a wide range of camera poses. VGQ-CNN achieves a balanced accuracy of 82.1% on our test-split while generalising to a variety of camera poses. Meanwhile, it achieves competitive performance for overhead cameras and top-grasps with a balanced accuracy of 74.2% compared to GQ-CNN's 76.6%. We also propose a modified network architecture, FAST-VGQ-CNN, that speeds up inference using a shared encoder architecture and can make 128 grasp quality predictions in 12ms on a CPU. Code and data are available at https://aucoroboticsmu.github.io/vgq-cnn/.