fzy139/graspnerf

[ICRA 2023] GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF

GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF (ICRA 2023)

This is the official repository of GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF.

For more information, please visit our project page.

News

• We have released an incomplete preview in the dev branch, and we will refine the code and merge it into the main branch this week.

Introduction

In this work, we propose a multiview RGB-based 6-DoF grasp detection network, GraspNeRF, that leverages the generalizable neural radiance field (NeRF) to achieve material-agnostic object grasping in clutter. Compared to the existing NeRF-based 3-DoF grasp detection methods that rely on densely captured input images and time-consuming per-scene optimization, our system can perform zero-shot NeRF construction with sparse RGB inputs and reliably detect 6-DoF grasps, both in real-time. The proposed framework jointly learns generalizable NeRF and grasp detection in an end-to-end manner, optimizing the scene representation construction for the grasping. For training data, we generate a large-scale photorealistic domain-randomized synthetic dataset of grasping in cluttered tabletop scenes that enables direct transfer to the real world. Experiments in synthetic and real-world environments demonstrate that our method significantly outperforms all the baselines in all the experiments.

Overview

This repository provides:

• PyTorch code, and weights of GraspNeRF: Coming soon.
• Multiview 6-DoF Grasping Dataset Generator and Examples: Coming soon.

Citation

If you find our work useful in your research, please consider citing:

@article{Dai2023GraspNeRF,
  title={GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF},
  author={Qiyu Dai and Yan Zhu and Yiran Geng and Ciyu Ruan and Jiazhao Zhang and He Wang},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2023}

Contact

If you have any questions, please open a github issue or contact us:

Qiyu Dai: [email protected], Yan Zhu: [email protected], He Wang: [email protected]