骨格誘導型ジオメトリ認識自動ラベリングによるロボット把持：4自由度学習から6自由度実行へ
Skeleton-Guided Geometry-Aware Auto-Labeling for Robotic Grasping: From 4-DoF Learning to 6-DoF Execution
骨格に基づく自動把持アノテーション生成手法を提案し、4自由度学習モデルと点群上の準3D骨格化による6自由度把持へ拡張、実機で高い成功率を達成した。
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著者: Ali Sabzejou, Farbod Azimmohseni, Mehdi Tale Masouleh, Ahmad Kalhor
分類: cs.RO
原文アブストラクト
Robotic grasping relies on large manually annotated datasets, which are costly to create. We introduce a straight-skeleton-based algorithm for generating two-finger grasp keypoints and identifying regions suitable for stable, feasible grasps. Our automated pipeline produces consistent grasp annotations without human intervention. We also propose the Skeleton-based Generative Grasp Convolutional Neural Network (SkelGG-CNN), a 4-DoF architecture that learns geometric grasp features from skeleton-based guidance. To extend auto-labeling to 6-DoF grasping, we develop a generalized quasi-3D skeletonization algorithm that operates directly on point clouds. Using automatically generated 4-DoF labels, SkelGG-CNN achieves accuracies of 95.42%, 96.55%, and 97.1% on Jacquard V1, Jacquard V2, and Cornell, respectively. On the GraspNet novel split, 6-DoF auto-labeling achieves an average precision of 18.33, comparable to state-of-the-art model-based approaches. In simulation, the 6-DoF method achieves success rates of 98.4% on Dex-Net and 89.1% on EGAD!. Real-world experiments with a Delta parallel robot show success rates of 97.4% on single household objects and 95.0% in cluttered scenes, outperforming state-of-the-art methods without domain adaptation. The 4-DoF pipeline adapts across environments and produces annotations approaching human-level precision, enabling efficient training of lightweight models on small datasets. The generalized 6-DoF method provides scalable, geometry-aware annotations for cluttered 3D scenes.
