End-to-End Learning to Grasp via Sampling From Object Point Clouds

Antonio Alliegro, Martin Rudorfer, Fabio Frattin, Ales Leonardis, Tatiana Tommasi

Research output: Contribution to journalArticlepeer-review


The ability to grasp objects is an essential skill that enables many robotic manipulation tasks. Recent works have studied point cloud-based methods for object grasping by starting from simulated datasets and have shown promising performance in real-world scenarios. Nevertheless, many of them still rely on ad-hoc geometric heuristics to generate grasp candidates, which fail to generalize to objects with significantly different shapes with respect to those observed during training. Several approaches exploit complex multi-stage learning strategies and local neighborhood feature extraction while ignoring semantic global information. Furthermore, they are inefficient in terms of number of training samples and time required for inference. In this letter, we propose an end-to-end learning solution to generate 6-DOF parallel-jaw grasps starting from the 3D partial view of the object. Our Learning to Grasp (L2G) method gathers information from the input point cloud through a new procedure that combines a differentiable sampling strategy to identify the visible contact points, with a feature encoder that leverages local and global cues. Overall, L2G is guided by a multi-task objective that generates a diverse set of grasps by optimizing contact point sampling, grasp regression, and grasp classification. With a thorough experimental analysis, we show the effectiveness of L2G as well as its robustness and generalization abilities.
Original languageEnglish
Pages (from-to)9865-9872
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
Early online date15 Jul 2022
Publication statusPublished - 1 Oct 2022

Bibliographical note

Funding Information:
This work was partly supported by EPSRC through CHIST-ERA BURG Project under Grant EP/S032487/1. It also received high-performance computing resources from CINECA through ISCRA Initiative under Award IsC87-SS-GRASP.


  • Deep learning for visual perception
  • deep learning in grasping and manipulation
  • grasping


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