Deep Perception (part 1)

MIT 6.881: Robotic Manipulation

Fall 2020, Lecture 11

Follow live at https://slides.com/russtedrake/fall20-lec11/live

(or later at https://slides.com/russtedrake/fall20-lec11)

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
...

A sample annotated image from the COCO dataset