Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping   Robotic manipulation of unknown objects is an important field of research.
Practical applications occur in many real-world settings where robots need to
interact with an unknown environment. We tackle the problem of reactive
grasping by proposing a method for unknown object tracking, grasp point
sampling and dynamic trajectory planning. Our object tracking method combines
Siamese Networks with an Iterative Closest Point approach for pointcloud
registration into a method for 6-DoF unknown object tracking. The method does
not require further training and is robust to noise and occlusion. We propose a
robotic manipulation system, which is able to grasp a wide variety of formerly
unseen objects and is robust against object perturbations and inferior grasping
points.

5
The categories of this paper are: gr-qc
7
The categories of this paper are: hep-th
8
The categories of this paper are: hep-ex
27
The categories of this paper are: comp-gas
26
The categories of this paper are: bayes-an
14
The categories of this paper are: math-ph
17
The categories of this paper are: q-fin
0
The categories of this paper are: hep-ph
35
The categories of this paper are: mtrl-th
12
The categories of this paper are: nucl-th
30
The categories of this paper are: q-alg
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The categories of this paper are: adap-org
33
The categories of this paper are: plasm-ph
10
The categories of this paper are: q-bio
31
The categories of this paper are: ao-sci
28
The categories of this paper are: alg-geom