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Robotic Grasping in Cluttered Environments

Videos

These videos show the robotic arm picking up previously unknown objects using only vision completely autonomously:

Publications

Learning grasp strategies with partial shape information,
Ashutosh Saxena, Lawson Wong, Andrew Y. Ng. To appear in AAAI, 2008. [pdf]

Robotic Grasping of Novel Objects using Vision,
Ashutosh Saxena, Justin Driemeyer, Andrew Y. Ng. In International Journal of Robotics Research (IJRR), 2008. [pdf]

A Vision-based System for Grasping Novel Objects in Cluttered Environments,
Ashutosh Saxena, Lawson Wong, Morgan Quigley, Andrew Y. Ng. In International Symposium of Robotics Research (ISRR), 2007. [pdf]

Robotic Grasping of Novel Objects,
Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Andrew Y. Ng. In NIPS 19, 2006. (spotlight paper) [pdf]

Learning to Grasp Novel Objects using Vision,
Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Chioma Osondu, Andrew Y. Ng, ISER, 2006. [pdf]

Shorter version appeared as:
Learning to Grasp Novel Objects using Vision, Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Chioma Osondu, Andrew Y. Ng,
RSS Workshop on Manipulation for Human Environments, 2006. [pdf]