EnsembleConvolutional Neural Network (ECNN) is trained using a Mixture of Experts (MOE) model that integrates opinions and determines the final grasping decision . ECNN introduces minimal computational cost overhead, and thenetwork can virtually run as fast as the slowest expert . We test thisarchitecture using open-source algorithms in the literature by adopting GQCNN4.0, GGCNN and a custom variation of GGCnn as experts and obtained a 6%increase in the grasp success on the Cornell Dataset compared to thebest-performing individual algorithm . The performance of the method is alsodemonstrated using a Franka Emika Panda arm .

Author(s) : Fadi Alladkani, James Akl, Berk Calli

Links : PDF - Abstract

Code :
Coursera

Keywords : ggcnn - ecnn - experts - grasp - algorithm -

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