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تسجيل مستخدم جديدImproved GQ-CNN: Deep Learning Model for Planning Robust Grasps
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نشر من قبل
Jakub \\'Swi\\k{a}tkowski
تاريخ النشر
2018
مجال البحث
الهندسة المعلوماتية
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English
تأليف
Maciej Jaskowski
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Recent developments in the field of robot grasping have shown great improvements in the grasp success rates when dealing with unknown objects. In this work we improve on one of the most promising approaches, the Grasp Quality Convolutional Neural Network (GQ-CNN) trained on the DexNet 2.0 dataset. We propose a new architecture for the GQ-CNN and describe practical improvements that increase the model validation accuracy from 92.2% to 95.8% and from 85.9% to 88.0% on respectively image-wise and object-wise training and validation splits.
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