6-DOF Grasping for Target-driven Object Manipulation in Clutter

Understand

Grasping in cluttered environments is a fundamental but challenging robotic skill.

• It requires both reasoning about unseen object parts and potential collisions with the manipulator.
• Most existing data-driven approaches avoid this problem by limiting themselves to top-down planar grasps which is insufficient for many real-world scenarios and greatly limits possible grasps.
• We present a method that plans 6-DOF grasps for any desired object in a cluttered scene from partial point cloud observations.