mahler_dex-net_2017: Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics

We learn a function that takes as input a candidate grasp and a depth image and outputs an estimate of robustness

DexNet is a function $$f(\text{candidate grasp}, \text{depth image}) = P(\text{success})$$.