Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: REGRAD: A Large-Scale Relational Grasp Dataset for Safe and
  Object-Specific Robotic Grasping in Clutter   Despite the impressive progress achieved in robotic grasping, robots are not
skilled in sophisticated tasks (e.g. search and grasp a specified target in
clutter). Such tasks involve not only grasping but the comprehensive perception
of the world (e.g. the object relationships). Recently, encouraging results
demonstrate that it is possible to understand high-level concepts by learning.
However, such algorithms are usually data-intensive, and the lack of data
severely limits their performance. In this paper, we present a new dataset
named REGRAD for the learning of relationships among objects and grasps. We
collect the annotations of object poses, segmentations, grasps, and
relationships for the target-driven relational grasping tasks. Our dataset is
collected in both forms of 2D images and 3D point clouds. Moreover, since all
the data are generated automatically, it is free to import new objects for data
generation. We also released a real-world validation dataset to evaluate the
sim-to-real performance of models trained on REGRAD. Finally, we conducted a
series of experiments, showing that the models trained on REGRAD could
generalize well to the realistic scenarios, in terms of both relationship and
grasp detection. Our dataset and code could be found at:
https://github.com/poisonwine/REGRAD

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The categories of this paper are: hep-th
31
The categories of this paper are: ao-sci
21
The categories of this paper are: adap-org
22
The categories of this paper are: chao-dyn
36
The categories of this paper are: cmp-lg
3
The categories of this paper are: physics
17
The categories of this paper are: q-fin
13
The categories of this paper are: quant-ph
20
The categories of this paper are: acc-phys
11
The categories of this paper are: hep-lat
30
The categories of this paper are: q-alg
27
The categories of this paper are: comp-gas
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The categories of this paper are: hep-ph
34
The categories of this paper are: chem-ph
28
The categories of this paper are: alg-geom
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The categories of this paper are: gr-qc