russtedrake

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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)

https://colab.research.google.com/github/RussTedrake/manipulation/blob/master/clutter.ipynb

"Clutter clearing" (an early project at TRI)

(unpublished) work by Lucas Manuelli ~2017.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