Reproduce “Center Direction Network for Grasping Point Localization on Cloths” on OpenResearch
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About this paper
Domen Tabernik, Jon Muhovič, Matej Urbas, Danijel Skočaj
CeDiRNet-3DoF extends the authors’ center-direction regression method to estimate visible towel-corner grasp points and image-plane approach angles. It predicts pixel-to-corner directions, localizes points with a separate network, and adds angle prediction. On the ViCoS Towel Dataset, its reported F1 is 78.0%, versus DINO’s 72.7% under RGB and ConvNext-B. This evaluates perception, not grasp success; folded towels remain harder.
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