1. Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng

2. Robotic grasping Barrett Hand Saxena et al, IJRR (2008) Saxena et al, AAAI (2008)

3. Data Image dataDepth data Quigley et al, ICRA 2009

4. Features GoodBadSo

5. Angle computation

6. Problems Shadows Different objects

7. More features Distance between contact points Depth variations and image variations Collision detection

8. Grasp point ranking Use ranking algorithms for ranking grasp points Optimize metric that focuses on the top pairs

9. Experiments

10. Offline experiments Advantages of optimization metric Advantages of new features

11. Experimental results

12. Videos