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simmediumgraspingmetric · varies
Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping
Description
A series of region-based methods succeed in extracting regional features and enhancing grasp detection quality. However, faced with a cluttered scene with potential collision, the definition of the grasp-relevant region stays inconsistent, and the relationship between grasps and regional spaces remains incompletely investigated. In this paper, we propose Normalized Grasp Space (NGS) from a novel region-aware viewpoint, unifying the grasp representation within a normalized regional space and bene