One-shot learning and generation of dexterous grasps for novel objects 2015 One-shot learning and generation of dexterous grasps for novel objects Marek Kopicki et al Gagan Khandate

Grasping Versatile manipulation = one hand many objects

Grasping Problem How much information does the robot have about the object? 2D Image Partial 3D Point Cloud Difficulty Complete 3D Point Cloud 3D Model Friction Surface compliance Broad problem with lots of different approaches being proposed. The approach depends on the information of object and robot hand complexity. Object Information

Grasping Problem How about the hand? Anthropomorphic Hand Difficulty Two Finger Hand Hand Complexity

Grasping Problem Generalize grasp ? NOT Robust Force Analysis (Grasp Metric) Object Grasp Perception to Grasp Direct Learning Generalize grasp ?

Generalizable Grasps - Previous Approaches Common object parts - Low DOF

Generalizable Grasps - Previous Approaches Common object parts - Low DOF Global Hand Shape - High DOF

In this paper Grasp Model Object Data + Global Hand Shape Object Point Cloud Contacts Hand Shape Single Kinesthetic Demonstration Grasp Model Grasp for Novel Object modify Novel way to combine data, One shot learning.

What is the Model? Hand Configuration Model A pdf for the hand configuration while grasping Contact Model A pdf for the pose of the links of the hand w.r.t to object (for each link)

Contact Model Encoding Surface Features normal For all p from object point cloud get x Orientation q Kernel Density Estimation

Kernel Density Estimation - KDE Estimate PDF from data L particles K is kernel Mean point, band width

Object Model L points in the point cloud K = 3-D Gaussian x von Mises - Fisher x 2-D Gaussian

Contact Model for each link in hand Only points close to the link to be used to define the pdf d w = a*exp(- d^2)

Contact Model 5 training grasps r2 r1

Hand Configuration Model Generate positions before and after contact through interpolation Hand Configuration Model pdf using KDE

Hand Configuration Model - Visualization Hand Config Data PCA KDE Visualize 5 training grasps

Generating Novel Grasps

Object Model L points in the point cloud