Diffusion Suction Grasping with Large-Scale Parcel Dataset
This work addresses a significant problem in robotics and logistics, particularly for those dealing with complex parcel handling scenarios, by providing a more effective and efficient solution for suction grasping.
The authors tackled the challenge of object suction grasping in cluttered and complex parcel handling scenarios, achieving state-of-the-art performance with their Diffusion-Suction framework on the Parcel-Suction-Dataset and SuctionNet-1Billion benchmark. Their approach was trained on a large-scale synthetic dataset containing 25 thousand cluttered scenes with 410 million precision-annotated suction grasp poses.
While recent advances in object suction grasping have shown remarkable progress, significant challenges persist particularly in cluttered and complex parcel handling scenarios. Two fundamental limitations hinder current approaches: (1) the lack of a comprehensive suction grasp dataset tailored for parcel manipulation tasks, and (2) insufficient adaptability to diverse object characteristics including size variations, geometric complexity, and textural diversity. To address these challenges, we present Parcel-Suction-Dataset, a large-scale synthetic dataset containing 25 thousand cluttered scenes with 410 million precision-annotated suction grasp poses. This dataset is generated through our novel geometric sampling algorithm that enables efficient generation of optimal suction grasps incorporating both physical constraints and material properties. We further propose Diffusion-Suction, an innovative framework that reformulates suction grasp prediction as a conditional generation task through denoising diffusion probabilistic models. Our method iteratively refines random noise into suction grasp score maps through visual-conditioned guidance from point cloud observations, effectively learning spatial point-wise affordances from our synthetic dataset. Extensive experiments demonstrate that the simple yet efficient Diffusion-Suction achieves new state-of-the-art performance compared to previous models on both Parcel-Suction-Dataset and the public SuctionNet-1Billion benchmark.