X Development LLC

Joseph Redmon

Anelia Angelova

Methods and apparatus related to training and/or utilizing a convolutional neural network to generate grasping parameters for an object. The grasping parameters can be used by a robot control system to enable the robot control system to position a robot grasping end effector to grasp the object. The trained convolutional neural network provides a direct regression from image data to grasping parameters. For example, the convolutional neural network may be trained to enable generation of grasping parameters in a single regression through the convolutional neural network. In some implementations, the grasping parameters may define at least: a 'reference point' for positioning the grasping end effector for the grasp; and an orientation of the grasping end effector for the grasp.

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Joseph Redmon