Information processing apparatus, control method, robot system, and storage medium

An information processing method for controlling operation of a robot configured to hold and move a target object, the information processing method comprising:

• estimating information indicating a holding success possibility from an image of a plurality of the target objects by using a pre-trained model that estimates the information indicating the holding success possibility in at least one or more partial regions;
• determining a holding region for the robot to hold the target object among the at least one or more partial regions based on the information indicating the holding success possibility;
• and
• moving the robot based on the holding region and causing the robot to perform a holding operation on the target object,
• wherein in a case where the holding operation performed on the target object by the robot is failed, a partial region, among the at least one or more partial regions, satisfying a predetermined condition is determined as a next holding region based on the information indicating the holding success possibility.

A non-transitory storage medium storing a program for causing a computer to perform an information processing method for controlling operation of a robot configured to hold and move a target object, the information processing method comprising:

• estimating information indicating a holding success possibility from an image of a plurality of the target objects by using a pre-trained model that estimates the information indicating the holding success possibility in at least one or more partial regions;
• determining a holding region for the robot to hold the target object among the at least one or more partial regions based on the information indicating the holding success possibility;
• and
• moving the robot based on the holding region and causing the robot to perform a holding operation on the target object,
• wherein in a case where the holding operation performed on the target object by the robot is failed, a partial region, among the at least one or more partial regions, satisfying a predetermined condition is determined as a next holding region based on the information indicating the holding success possibility.