Comments (2)
Hi, we intentionally train our model with grasp data on the voxels that are invisible, because we wanted to explore the synergy between 3D reconstruction and grasp affordance. Our key intuition is that a learned representation capable of reconstructing the 3D scene encodes relevant geometry information for predicting grasp points and vice versa.
In short, we didn't avoid using the grasp data on the ambiguous voxels.
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Thank you for answering my question. It's very helpful!
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