Sim-Suction: Learning a Suction Grasp Policy for Cluttered Environments Using a Synthetic Benchmark
This addresses the need for robust suction grasp policies in robotics for cluttered object picking, though it is incremental as it builds on existing data-driven methods with a new dataset and model.
The paper tackles the problem of generating suction grasp datasets for cluttered environments by proposing Sim-Suction-Dataset, a synthetic benchmark with 3.2 million annotated poses, and Sim-Suction-Pointnet, a policy that achieves success rates up to 96.76% and outperforms state-of-the-art benchmarks by about 21% in mixed scenes.
This paper presents Sim-Suction, a robust object-aware suction grasp policy for mobile manipulation platforms with dynamic camera viewpoints, designed to pick up unknown objects from cluttered environments. Suction grasp policies typically employ data-driven approaches, necessitating large-scale, accurately-annotated suction grasp datasets. However, the generation of suction grasp datasets in cluttered environments remains underexplored, leaving uncertainties about the relationship between the object of interest and its surroundings. To address this, we propose a benchmark synthetic dataset, Sim-Suction-Dataset, comprising 500 cluttered environments with 3.2 million annotated suction grasp poses. The efficient Sim-Suction-Dataset generation process provides novel insights by combining analytical models with dynamic physical simulations to create fast and accurate suction grasp pose annotations. We introduce Sim-Suction-Pointnet to generate robust 6D suction grasp poses by learning point-wise affordances from the Sim-Suction-Dataset, leveraging the synergy of zero-shot text-to-segmentation. Real-world experiments for picking up all objects demonstrate that Sim-Suction-Pointnet achieves success rates of 96.76%, 94.23%, and 92.39% on cluttered level 1 objects (prismatic shape), cluttered level 2 objects (more complex geometry), and cluttered mixed objects, respectively. The Sim-Suction policies outperform state-of-the-art benchmarks tested by approximately 21% in cluttered mixed scenes.