Adversarial Subgraph Contrastive Learning for Predicting Grasp Stability of Robotic Hands With Multimodal Signals

摘要

Accurate prediction of grasp stability is crucial for reliable and precise operations with multi-fingered robotic hands. Traditional methods tend to oversimplify tactile information and pay equal attention to all regions of the data. This can obscure subtle yet critical variations and introduce noise, increasing the risk of stability assessment errors. To address these challenges, a novel self-supervised method, Adversarial Subgraph Contrastive Learning (ASCL), is proposed. It constructs an instance graph from the spatial distribution and features of perceptual nodes. It employs a bi-level adversarial strategy to enhance latent data representations by maximizing the mutual information between the instance graph and its semantic subgraphs, while minimizing it with its noisy subgraphs. To prevent trivial solutions and continuous relaxation of semantic subgraphs, node confidence and edge connection terms are incorporated to ensure stabilization. From an information-theoretic perspective, ASCL exhibits notable advantages on unlabeled or sparsely labeled data, well outperforming existing methods in empirical tests with robotic hands.