Bin Picking (part 2)

MIT 6.881: Robotic Manipulation

Fall 2020, Lecture 10

Follow live at https://slides.com/russtedrake/fall20-lec10/live

(or later at https://slides.com/russtedrake/fall20-lec10)

"Clutter clearing" (an early project at TRI)

(unpublished) work by Lucas Manuelli ~2017.  No deep learning -- this is geometry only.

to the "whiteboard"...

Limitations of using geometry only

• No understanding of what an object is.
  • "Double picks"
  • Might pick up a heavy object from one corner
• Partial views
• Depth returns don't work for transparent objects
• ...

https://forms.gle/xmtFaz4Zdci1hGT36​