ICRA
DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation
Download Abstract: Object grasping using dexterous hands is a crucial yet challenging task for robotic dexterous manipulation. Compared with the field of object grasping with parallel grippers, dexterous grasping is very under-explored, partially owing to the lack of a large-scale dataset. In this work, we present a large-scale simulated dataset, DexGraspNet, for robotic dexterous grasping, …
Rearrange Indoor Scenes for Human-Robot Co-Activity
Download Abstract: We present an optimization-based framework for rearranging indoor furniture to accommodate human-robot co activities better. The rearrangement aims to afford sufficient accessible space for robot activities without compromising everyday human activities. To retain human activities, our algorithm preserves the functional relations among furniture by integrating spatial and semantic co-occurrence extracted from SUNCG and …
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GenDexGrasp: Generalizable Dexterous Grasping
Download Abstract: Generating dexterous grasping has been a long standing and challenging robotic task. Despite recent progress, existing methods primarily suffer from two issues. First, most prior art focuses on a specific type of robot hand, lacking generalizable capability of handling unseen ones. Second, prior arts oftentimes fail to rapidly generate diverse grasps with a …