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...

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Bibliographic Details
Main Authors Masarwy, Mohammad, Goshen, Yuval, Dovrat, David, Keren, Sarah
Format Journal Article
LanguageEnglish
Published 22.10.2023
Subjects
Computer Science - Artificial Intelligence
Computer Science - Robotics
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Summary: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.
DOI:10.48550/arxiv.2310.14402