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Enhancing Robotic Grasping Dataset Quality with Human Oversight

Published on:

8 February 2024

Primary Category:

Computer Vision and Pattern Recognition

Paper Authors:

Qiuhao Li,

Shenghai Yuan

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Key Details

Proposes HIL method to refine grasp dataset by manually fixing errors

Humans categorize low-confidence predictions as missing/wrong labels

Missing labels get added, wrong labels get removed from dataset

Iterative process enhances dataset quality and model accuracy

Various networks gain 5-8% better grasp detection without architecture changes

AI generated summary

Enhancing Robotic Grasping Dataset Quality with Human Oversight

This paper proposes a Human-in-the-Loop (HIL) approach to refine an existing robotic grasping dataset by having humans evaluate and correct errors in automated grasp predictions. Low-confidence predictions are manually categorized and corrected, iteratively improving dataset quality. After multiple rounds, accuracy for various networks increased 5-8% without changing model architectures, demonstrating the impact of higher-quality training data.

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