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RBE Masters Thesis Presentation: Sabhari Natarajan | Aiding Grasp Synthesis for Novel Objects Using Heuristic-based and Data-driven Active Vision Methods

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Various images of robots at Robotics Engineering WPI alt
WPI Robotics Engineering
Wednesday, August 04, 2021
9:30 am to 10:30 am

RBE MASTERS THESIS PRESENTATION

 

Sabhari Natarajan

Aiding Grasp Synthesis for Novel Objects Using Heuristic-based and Data-driven Active Vision Methods

 

Wednesday, August 4, 2021

9:30 AM to 10:30 AM

Virtual | Zoom: https://wpi.zoom.us/j/95544613987

 

Abstract: Multiple heuristic-based and data-driven active vision strategies for viewpoint optimization of an arm-mounted depth camera to aid robotic grasping are presented. These strategies aim to efficiently collect data to boost the performance of an underlying grasp synthesis algorithm. An open-source benchmarking platform in simulation (https://github.com/galenbr/2021ActiveVision) was created, and an extensive study for assessing the performance of the proposed methods as well as comparing them against various baseline strategies was performed. The experimental study was done on a Franka Emika panda with a two-fingered parallel jaw gripper, by utilizing an existing grasp planning benchmark in the literature. With these analyses, we were able to quantitatively demonstrate the versatility of heuristic methods that prioritize certain types of exploration, and qualitatively show their robustness to both novel objects and the transition from simulation to the real world. The heuristic-based and data-driven methods were also compared in terms of their execution times and efficiency. We identified scenarios in which our methods did not perform well and present a discussion on which avenues for future research show promise.

Masters Thesis Committee:

Professor Berk Calli, RBE, WPI (Advisor)

Professor Jing Xiao, RBE, WPI

Professor Mike Gennert, RBE, WPI

 

 

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