S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenes

Yuzhe Qin, Rui Chen, Hao Zhu, Meng Song, Jing Xu, Hao Su

Abstract: Grasping is among the most fundamental and long-lasting problems in robotics study. This paper studies the problem of 6-DoF(degree of freedom) grasping by a parallel gripper in a cluttered scene ca...