1. 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

2. Grasping
Versatile manipulation = one hand many objects

3. 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

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

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

6. Generalizable Grasps - Previous Approaches
Common object parts - Low DOF

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

8. 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.

10. 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)

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

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

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

14. 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)

15. Contact Model
5 training grasps r2 r1

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

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

18. Generating Novel Grasps

21. Object Model
L points in the point cloud