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This invention describes a computer system that helps robots pick up objects, especially when those objects are surrounded by other things. It works by first looking at an object using image data, then figuring out possible ways a robot could grab it. If any of those grabbing methods would bump into another nearby object, the system adjusts the plan, specifically by using and modifying 3D point cloud data to avoid collisions.
Why it matters: Filed before advanced AI models could rapidly process complex 3D scene data. Modern vision models can now generate and refine grasp poses with greater accuracy.
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