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Robust parallel-gripper grasp getection using convolutional neural networks

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Figure 1.1 – The AlexNet architecture from (Krizhevsky et al., 2012).
Figure 1.3 – The STN applied to two classification tasks. (Top) On the distorted MNIST dataset, the STN properly focuses on the digit, facilitating the recognition by the classification network
Figure 1.4 – Probability heat-maps of the presence of a motorbike in the image. The network is trained without any localization label, having only a list of objects present in the image
Figure 2.1 – The five-dimensional grasp rectangle representation. It represents a grasp in 2D from the top view
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