When Continual Learning Meets Robotic Grasp Detection: A Novel Benchmark on the Jacquard Dataset

Rui Yang, Rui Yang, Matthieu Grard, Emmanuel Dellandréa, Liming Chen

2023

Abstract

Robotic grasp detection is to predict a grasp configuration, e.g., grasp location, gripper openness size, to enable a suitable end-effector to stably grasp a given object on the scene, whereas continual learning (CL) refers to the skill of an artificial learning system to learn continuously about the external changing world. Because it corresponds to real-life scenarios where data and tasks continuously occur, CL has aroused increasing interest in research communities. Numerous studies have focused so far on image classification, but none of them involve robotic grasp detection, although extending continuously robots with novel grasp capabilities when facing novel objects in unknown scenes is a major requirement of real-life applications. In this paper, we propose a first benchmark, namely Jacquard-CL, that uses a small part of the Jacquard Dataset with variations of the illumination and background to create a NI(new instances)-like scenario. Then, we adapt and benchmark several state-of-the-art continual learning methods to the grasp detection problem and create a baseline for the issue of continual grasp detection. The experiments show that regularization-based methods struggle to retain the previously learned knowledge, but memory-based methods perform better.

Paper Citation

in Harvard Style

Yang R., Grard M., Dellandréa E. and Chen L. (2023). When Continual Learning Meets Robotic Grasp Detection: A Novel Benchmark on the Jacquard Dataset. In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 4: VISAPP; ISBN 978-989-758-634-7, SciTePress, pages 703-710. DOI: 10.5220/0011874700003417

in Bibtex Style

@conference{visapp23,
author={Rui Yang and Matthieu Grard and Emmanuel Dellandréa and Liming Chen},
title={When Continual Learning Meets Robotic Grasp Detection: A Novel Benchmark on the Jacquard Dataset},
booktitle={Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 4: VISAPP},
year={2023},
pages={703-710},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011874700003417},
isbn={978-989-758-634-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 4: VISAPP
TI - When Continual Learning Meets Robotic Grasp Detection: A Novel Benchmark on the Jacquard Dataset
SN - 978-989-758-634-7
AU - Yang R.
AU - Grard M.
AU - Dellandréa E.
AU - Chen L.
PY - 2023
SP - 703
EP - 710
DO - 10.5220/0011874700003417
PB - SciTePress