相关论文: CAPGrasp: An $\mathbb{R}^3\times \text{SO(2)-equiv…
Robotic grasping traditionally relies on object features or shape information for learning new or applying already learned grasps. We argue however that such a strong reliance on object geometric information renders grasping and grasp…
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects…
6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping…
To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required, the sizes of which directly affect the rate of successful grasps. To…
Repeated Sampling (RS) is a simple inference-time algorithm that has been shown to improve model performance on complex tasks. Although it is an effective way of scaling inference time, it often struggles to generate diverse solution…
Reasoning about object grasp affordances allows an autonomous agent to estimate the most suitable grasp to execute a task. While current approaches for estimating grasp affordances are effective, their prediction is driven by hypotheses on…
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…
We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set,…
Importance sampling (IS) is a powerful Monte Carlo methodology for the approximation of intractable integrals, very often involving a target probability density function. The performance of IS heavily depends on the appropriate selection of…
The motivation for this paper stems from the desire to develop an adaptive sampling method for solving constrained optimization problems in which the objective function is stochastic and the constraints are deterministic. The method…
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…
Learning-based approaches to grasp planning are preferred over analytical methods due to their ability to better generalize to new, partially observed objects. However, data collection remains one of the biggest bottlenecks for grasp…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…
Highly distributed training of Deep Neural Networks (DNNs) on future compute platforms (offering 100 of TeraOps/s of computational capacity) is expected to be severely communication constrained. To overcome this limitation, new gradient…
We propose a new volumetric grasp model that is equivariant to rotations around the vertical axis, leading to a significant improvement in sampling efficiency. Our model employs a tri-plane volumetric feature representation -- i.e., the…
The hand plays a pivotal role in human ability to grasp and manipulate objects and controllable grasp synthesis is the key for successfully performing downstream tasks. Existing methods that use human intention or task-level language as…
End-to-end self-supervised models have been proposed for estimating the success of future candidate grasps and video predictive models for generating future observations. However, none have yet studied these two strategies side-by-side for…
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…
Robotic dexterous grasping is important for interacting with the environment. To unleash the potential of data-driven models for dexterous grasping, a large-scale, high-quality dataset is essential. While gradient-based optimization offers…