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Sim-Grasp: Learning 6-DOF Grasp Policies for Cluttered Environments Using a Synthetic Benchmark

arXiv 2405.00841 ↗First posted 1 May 2024cs.RO cs.AIcited by 0

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Abstract (arXiv)

In this paper, we present Sim-Grasp, a robust 6-DOF two-finger grasping system that integrates advanced language models for enhanced object manipulation in cluttered environments. We introduce the Sim-Grasp-Dataset, which includes 1,550 objects across 500 scenarios with 7.9 million annotated labels, and develop Sim-GraspNet to generate grasp poses from point clouds. The Sim-Grasp-Polices achieve grasping success rates of 97.14% for single objects and 87.43% and 83.33% for mixed clutter scenarios of Levels 1-2 and Levels 3-4 objects, respectively. By incorporating language models for target identification through text and box prompts, Sim-Grasp enables both object-agnostic and target picking, pushing the boundaries of intelligent robotic systems.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 21 of its 36 references that are in the map. First posted on arXiv 1 May 2024.

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21 of 36 references.

References · 21

  1. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  2. 2023Segment Anythingcited by 8,158
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  4. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,274
  5. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  6. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  7. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 733
  8. 2022Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Itemscited by 601
  9. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 237
  10. 2022AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domainscited by 205
  11. 2017Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matchingcited by 124
  12. 2020ACRONYM: A Large-Scale Grasp Dataset Based on Simulationcited by 115
9 more
  1. 2017Grasp Pose Detection in Point Cloudscited by 107
  2. 2018Jacquard: A Large Scale Dataset for Robotic Grasp Detectioncited by 86
  3. 2018PointNetGPD: Detecting Grasp Configurations from Point Setscited by 80
  4. 2018GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learningcited by 77
  5. 2020PointNet++ Grasping: Learning An End-to-end Spatial Grasp Generation Algorithm from Sparse Point Cloudscited by 39
  6. 2019A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Setcited by 30
  7. 2021A Learned Stereo Depth System for Robotic Manipulation in Homescited by 14
  8. 2019A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homescited by 12
  9. 2023Sim-Suction: Learning a Suction Grasp Policy for Cluttered Environments Using a Synthetic Benchmarkcited by 7

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