ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

被引：75
作者：
Eppner, Clemens [1 ]
Mousavian, Arsalan [1 ]
Fox, Dieter [1 ,2 ]
机构：
[1] NVIDIA, Santa Clara, CA 95050 USA
[2] Univ Washington, Paul G Allen Sch Comp Sci & Engn, Seattle, WA 98195 USA
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) | 2021年
关键词：
D O I：
10.1109/ICRA48506.2021.9560844
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We introduce ACRONYM, a dataset for robot grasp planning based on physics simulation. The dataset contains 17.7M parallel-jaw grasps, spanning 8872 objects from 262 different categories, each labeled with the grasp result obtained from a physics simulator. We show the value of this large and diverse dataset by using it to train two state-of-the-art learning-based grasp planning algorithms. Grasp performance improves significantly when compared to the original smaller dataset. Data and tools can he accessed at https://sites. google.com/nvidia.com/graspdataset.
引用
收藏
页码：6222 / 6227
页数：6
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