CPC B25J 9/1612 (2013.01) [B25J 9/1669 (2013.01); B25J 9/1697 (2013.01); G06N 3/045 (2023.01); B25J 9/161 (2013.01)] | 27 Claims |
1. A computer system comprising one or more processors and computer-readable memory storing executable instructions that, as a result of being executed by the one or more processors, cause the computer system to at least:
use a first neural network to generate, from a three dimensional point cloud of an object, a set of grasp poses that allow a robot to grasp the object;
use a second neural network to determine an evaluation of individual grasps in the set of grasp poses; and
refine the individual grasps in the set of grasp poses based at least in part on a gradient of the evaluation determined by the second neural network to produce a set of refined grasp poses.
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