SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction

Recently, tactile sensing has attracted great interest for robotic manipulation. Predicting if a grasp will be stable or not, i.e. if the grasped object will drop out of the gripper while being lifted, can aid robust robotic grasping. Previous methods paid equal attention to all regions of the tactile data matrix or all time-steps in the tactile sequence, which may include irrelevant or redundant ...