Relational Kernel-Based Grasping with Numerical Features

Object grasping is a key task in robot manipulation. Performing a grasp largely depends on the object properties and grasp constraints. This paper proposes a new statistical relational learning approach to recognize graspable points in object point clouds. We characterize each point with numerical shape features and represent each cloud as a (hyper-) graph by considering qualitative spatial relations between neighboring points. Further, we use kernels on graphs to exploit extended contextual shape information and compute discriminative features which show improvement upon local shape features. Our work for robot grasping highlights the importance of moving towards integrating relational representations with low-level descriptors for robot vision. We evaluate our relational kernel-based approach on a realistic dataset with 8 objects.