Related papers: ACRONYM: A Large-Scale Grasp Dataset Based on Simu…
Dual-arm robotic grasping is crucial for handling large objects that require stable and coordinated manipulation. While single-arm grasping has been extensively studied, datasets tailored for dual-arm settings remain scarce. We introduce a…
We introduce a large-scale dataset named MultiGripperGrasp for robotic grasping. Our dataset contains 30.4M grasps from 11 grippers for 345 objects. These grippers range from two-finger grippers to five-finger grippers, including a human…
Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…
Robotic dexterous grasping is the first step to enable human-like dexterous object manipulation and thus a crucial robotic technology. However, dexterous grasping is much more under-explored than object grasping with parallel grippers,…
Advancing robotic grasping and manipulation requires the ability to test algorithms and/or train learning models on large numbers of grasps. Towards the goal of more advanced grasping, we present the Grasp Reset Mechanism (GRM), a fully…
Despite the enormous progress and generalization in robotic grasping in recent years, existing methods have yet to scale and generalize task-oriented grasping to the same extent. This is largely due to the scale of the datasets both in…
In this paper, we introduce DA$^2$, the first large-scale dual-arm dexterity-aware dataset for the generation of optimal bimanual grasping pairs for arbitrary large objects. The dataset contains about 9M pairs of parallel-jaw grasps,…
Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…
Acronyms are the short forms of phrases that facilitate conveying lengthy sentences in documents and serve as one of the mainstays of writing. Due to their importance, identifying acronyms and corresponding phrases (i.e., acronym…
General robotic grasping systems require accurate object affordance perception in diverse open-world scenarios following human instructions. However, current studies suffer from the problem of lacking reasoning-based large-scale affordance…
Generalizable dexterous grasping with suitable grasp types is a fundamental skill for intelligent robots. Developing such skills requires a large-scale and high-quality dataset that covers numerous grasp types (i.e., at least those…
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…
Robotic grasping is a crucial task in industrial automation, where robots are increasingly expected to handle a wide range of objects. However, a significant challenge arises when robot grasping models trained on limited datasets encounter…
Grasping skill is a major ability that a wide number of real-life applications require for robotisation. State-of-the-art robotic grasping methods perform prediction of object grasp locations based on deep neural networks. However, such…
This work explores conditions under which multi-finger grasping algorithms can attain robust sim-to-real transfer. While numerous large datasets facilitate learning generative models for multi-finger grasping at scale, reliable real-world…
Multi-embodiment grasping focuses on developing approaches that exhibit generalist behavior across diverse gripper designs. Existing methods often learn the kinematic structure of the robot implicitly and face challenges due to the…
Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…
Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…
Robust grasping in cluttered environments remains an open challenge in robotics. While benchmark datasets have significantly advanced deep learning methods, they mainly focus on simplistic scenes with light occlusion and insufficient…
Foundation models such as ChatGPT have made significant strides in robotic tasks due to their universal representation of real-world domains. In this paper, we leverage foundation models to tackle grasp detection, a persistent challenge in…