POIS: Policy-Oriented Instance Segmentation for Ambidextrous Robot Picking

Instance segmentation has developed for a long time, and many methods can produce accurate and sharp results in cluttered scenes and deal with novel objects without pre-knowledge. We think the study of segmentation should consider its application. In this work, we propose policy-oriented Instance Segmentation for Ambidextrous Robot Picking. The robot has a Parallel- jaw gripper and a suction cup. The two grippers complement each other, and the robot has good adaptability.