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Human-in-the-loop Robotic Grasping using BERT Scene Representation

2022-09-28 12:16:29
Yaoxian Song, Penglei Sun, Pengfei Fang, Linyi Yang, Yanghua Xiao, Yue Zhang
arXiv_RO
       
Abstract

Current NLP techniques have been greatly applied in different domains. In this paper, we propose a human-in-the-loop framework for robotic grasping in cluttered scenes, investigating a language interface to the grasping process, which allows the user to intervene by natural language commands. This framework is constructed on a state-of-the-art rasping baseline, where we substitute a scene-graph representation with a text representation of the scene using BERT. Experiments on both simulation and physical robot show that the proposed method outperforms conventional object-agnostic and scene-graph based methods in the literature. In addition, we find that with human intervention, performance can be significantly improved.

Abstract (translated)

URL

https://arxiv.org/abs/2209.14026

PDF

https://arxiv.org/pdf/2209.14026.pdf

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