基于Transformer的机器人像素级抓取位姿检测
俞青松(
),徐向荣(),刘胤真
),徐向荣(),刘胤真
Pixel-level grasping pose detection for robots based on Transformer
Qingsong YU(),Xiangrong XU(),Yinzhen LIU
),Xiangrong XU(),Yinzhen LIU
图2. 金字塔池化的Transformer层结构
Fig.2. Transformer layer structure with pyramid pooling
