Unsupervised Representation Learning for Visual Robotics Grasping

• Published in: 2022 International Conference on Advanced Robotics and Mechatronics (ICARM) pp. 57 - 62
• Main Authors: Wang, Shaochen, Zhou, Zhangli, Wang, Hao, Li, Zhijun, Kan, Zhen
• Format: Conference Proceeding
• Language: English
• Published: IEEE 09.07.2022
• Subjects: Annotations; Representation learning; Semantics; Shape; Training; Uncertainty; Visualization
• DOI: 10.1109/ICARM54641.2022.9959267

Despite tremendous success achieved by deep learning in the field of robotic vision, it still requires massive amounts of manual annotations and expensive computational resources to train a high-performance grasping detection model. The difficulties (e.g., complicated object geometry, sensor noise) all pose challenges for grasping unknown objects. In this paper, self-supervised representation learning pre-training is investigated to tackle the issues like expensive data annotation and poor generalization to improve visual robotics grasping. The proposed framework has two primary characteristics: 1) Siamese networks integrated with metric learning capture commonalities between similar objects from unlabeled data in an unsupervised fashion. 2) A well-designed encoder-decoder architecture with skip-connections, fusing low-level contour information and high-level semantic information, enables a spatially precise and semantically rich representation. A key aspect of using self-supervised pre-training model is that it alleviates the burden on data annotation and accelerates model training. By fine-tuning on a small number of labeled data, our method improves the baseline which does not use deep representation learning by 9.5 points on the Cornell dataset. Our final grasping system is capable to grasp unseen objects in a variety of scenarios on a 7DoF Franka Emika Panda robot. A video is available at https://youtu.be/Xd0hhYD-IOE.