# A Secure and Efficient Multi-Object Grasping Detection Approach for Robotic Arms

arXiv: https://arxiv.org/abs/2209.03511 · HTML: https://mlsanity.com/paper/2209.03511/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 39 references that are in the map.
- First posted on arXiv 8 Sep 2022.

## Builds on (most cited first, 17 of 17)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Unsupervised Representation Learning with Deep Convolutional Generative Adversarial Networks](https://mlsanity.com/paper/1511.06434/) (2015)
- [Variational image compression with a scale hyperprior](https://mlsanity.com/paper/1802.01436/) (2018)
- [Full Resolution Image Compression with Recurrent Neural Networks](https://mlsanity.com/paper/1608.05148/) (2016)
- [Variable Rate Image Compression with Recurrent Neural Networks](https://mlsanity.com/paper/1511.06085/) (2015)
- [Real-Time Adaptive Image Compression](https://mlsanity.com/paper/1705.05823/) (2017)
- [Lifelong Federated Reinforcement Learning: A Learning Architecture for Navigation in Cloud Robotic Systems](https://mlsanity.com/paper/1901.06455/) (2019)
- [EasyLabel: A Semi-Automatic Pixel-wise Object Annotation Tool for Creating Robotic RGB-D Datasets](https://mlsanity.com/paper/1902.01626/) (2019)
- [Robotic Grasp Detection using Deep Convolutional Neural Networks](https://mlsanity.com/paper/1611.08036/) (2016)
- [End-to-end Trainable Deep Neural Network for Robotic Grasp Detection and Semantic Segmentation from RGB](https://mlsanity.com/paper/2107.05287/) (2021)
- [Deep Reinforcement Learning for Vision-Based Robotic Grasping: A Simulated Comparative Evaluation of Off-Policy Methods](https://mlsanity.com/paper/1802.10264/) (2018)
- [Federated Imitation Learning: A Novel Framework for Cloud Robotic Systems with Heterogeneous Sensor Data](https://mlsanity.com/paper/1912.12204/) (2019)
- [Peer-Assisted Robotic Learning: A Data-Driven Collaborative Learning Approach for Cloud Robotic Systems](https://mlsanity.com/paper/2010.08303/) (2020)
- [Guiding Long-Short Term Memory for Image Caption Generation](https://mlsanity.com/paper/1509.04942/) (2015)
- [Online Meta Adaptation for Variable-Rate Learned Image Compression](https://mlsanity.com/paper/2111.08256/) (2021)
- [ElasticROS: An Elastically Collaborative Robot Operation System for Fog and Cloud Robotics](https://mlsanity.com/paper/2209.01774/) (2022)

## Abstract (arXiv)

Robotic arms are widely used in automatic industries. However, with wide applications of deep learning in robotic arms, there are new challenges such as the allocation of grasping computing power and the growing demand for security. In this work, we propose a robotic arm grasping approach based on deep learning and edge-cloud collaboration. This approach realizes the arbitrary grasp planning of the robot arm and considers the grasp efficiency and information security. In addition, the encoder and decoder trained by GAN enable the images to be encrypted while compressing, which ensures the security of privacy. The model achieves 92% accuracy on the OCID dataset, the image compression ratio reaches 0.03%, and the structural difference value is higher than 0.91.