RAMPGrasp: Retentive Attention-Based Multiscale Perception Grasp Detection Network

摘要

In robotic grasp detection, challenges such as uncertainty in object type, size, and placement within the scene diminish grasping accuracy. However, the inability to effectively locate the graspable area and incomplete feature extraction for grasp detection are two key factors that hinder grasp detection accuracy and are not considered in current methods. This paper presents a novel retentive attention-based multiscale perception grasp detection network (RAMPGrasp) to address this constraint. First, we introduce retentive attention in the feature extraction module, which significantly improves the efficiency of attention score computation for long sequences in visual tasks. Second, we propose a multiscale spatial pyramid attention module, which can effectively adjust the importance of multiscale feature sequences and feature channels, while enhancing the correlation of multiscale features. Third, we design the prediction module as a coarse-to-fine framework, improving feature representation for grasp detection by considering the distribution trend of grasp poses. As a result, RAMPGrasp achieves state-of-the-art grasp detection accuracy, with 98.4% and 95.6% on the Cornell and Jacquard datasets, respectively.