Skeleton-Guided Geometry-Aware Auto-Labeling for Robotic Grasping: From 4-DoF Learning to 6-DoF Execution

Ali Sabzejou, Farbod Azimmohseni, Mehdi Tale Masouleh +1

Robotic grasping relies on large manually annotated datasets, which are costly to create. We introduce a straight-skeleton-based algorithm for generating two-finger grasp keypoints…