  This paper presents Densely Supervised Grasp Detector (DSGD), a deep learning
framework which combines CNN structures with layer-wise feature fusion and
produces grasps and their confidence scores at different levels of the image
hierarchy (i.e., global-, region-, and pixel-levels). % Specifically, at the
global-level, DSGD uses the entire image information to predict a grasp. At the
region-level, DSGD uses a region proposal network to identify salient regions
in the image and predicts a grasp for each salient region. At the pixel-level,
DSGD uses a fully convolutional network and predicts a grasp and its confidence
at every pixel. % During inference, DSGD selects the most confident grasp as
the output. This selection from hierarchically generated grasp candidates
overcomes limitations of the individual models. % DSGD outperforms
state-of-the-art methods on the Cornell grasp dataset in terms of grasp
accuracy. % Evaluation on a multi-object dataset and real-world robotic
grasping experiments show that DSGD produces highly stable grasps on a set of
unseen objects in new environments. It achieves 97% grasp detection accuracy
and 90% robotic grasping success rate with real-time inference speed.
