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We present an end-to-end algorithm for training deep neural networks to grasp novel objects.
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Matei Ciocarlie, Corey Goldfeder, and Peter Allen · 2007
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Ashutosh Saxena, Justin Driemeyer, Justin Kearns, and Andrew Y Ng · 2007
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Robotic grasping of novel objects using vision
Ashutosh Saxena, Justin Driemeyer, and Andrew Y Ng · 2008
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Yun Jiang, Stephen Moseson, and Ashutosh Saxena · 2011
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Tyson Brochu, Essex Edwards, and Robert Bridson · 2012
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Alexander Kasper, Zhixing Xue, and Rüdiger Dillmann · 2012
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Igor Mordatch, Emanuel Todorov, and Zoran Popović · 2012
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Yuval Tassa, Tom Erez, and Emanuel Todorov · 2012
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An efficient algorithm for a grasp quality measure
Y. Zheng · 2012
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An efficient algorithm for a grasp quality measure
Yu Zheng · 2012
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Arjun Singh, James Sha, Karthik S Narayan, Tudor Achim, and Pieter Abbeel · 2014
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Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming , pages 285–305
Hongkai Dai, Anirudha Majumdar, and Russ Tedrake · 2018
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Multi-task domain adaptation for deep learning of instance grasping from simulation
Kuan Fang, Yunfei Bai, Stefan Hinterstoisser, Silvio Savarese, and Mrinal Kalakrishnan · 2018
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Closing the loop for robotic grasping: A real-time, generative grasp synthesis approach
Douglas Morrison, Peter Corke, and Jürgen Leitner · 2018
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Deep reinforcement learning for vision-based robotic grasping: A simulated comparative evaluation of off-policy methods
Deirdre Quillen, Eric Jang, Ofir Nachum, Chelsea Finn, Julian Ibarz, and Sergey Levine · 2018
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Diederik P Kingma and Jimmy Ba · 2015
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Grasp quality measures: review and performance
Máximo A Roa and Raúl Suárez · 2015
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Multi-view convolutional neural networks for 3d shape recognition
Hang Su, Subhransu Maji, Evangelos Kalogerakis, and Erik Learned-Miller · 2015
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High precision grasp pose detection in dense clutter
Marcus Gualtieri, Andreas Ten Pas, Kate Saenko, and Robert Platt · 2016
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Dex-net 1.0: A cloud-based network of 3d objects for robust grasp planning using a multi-armed bandit model with correlated rewards
Jeffrey Mahler, Florian T Pokorny, Brian Hou, Melrose Roderick, Michael Laskey, Mathieu Aubry, Kai Kohlhoff, Torsten Kröger, James Kuffner, and Ken Goldberg · 2016
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Computing the globally optimal frictionless fixture in a discrete point set
Y. Zheng · 2016
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Thingi10k: A dataset of 10,000 3d-printing models
Qingnan Zhou and Alec Jacobson · 2016
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Grasping of unknown objects using deep convolutional neural networks based on depth images
P. Schmidt, N. Vahrenkamp, M. Wächter, and T. Asfour · 2018
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Neural kinematic networks for unsupervised motion retargetting
Ruben Villegas, Jimei Yang, Duygu Ceylan, and Honglak Lee · 2018
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Learning 6-dof grasping interaction via deep geometry-aware 3d representations
X. Yan, J. Hsu, M. Khansari, Y. Bai, A. Pathak, A. Gupta, J. Davidson, and H. Lee · 2018
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3D fast intersection and distance computation
Pierre Alliez, Stéphane Tayeb, and Camille Wormser · 2019
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Chainqueen: A real-time differentiable physical simulator for soft robotics
Yuanming Hu, Jiancheng Liu, Andrew Spielberg, Joshua B Tenenbaum, William T Freeman, Jiajun Wu, Daniela Rus, and Wojciech Matusik · 2019
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Sim-to-real via sim-to-sim: Data-efficient robotic grasping via randomized-to-canonical adaptation networks
Stephen James, Paul Wohlhart, Mrinal Kalakrishnan, Dmitry Kalashnikov, Alex Irpan, Julian Ibarz, Sergey Levine, Raia Hadsell, and Konstantinos Bousmalis · 2019
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Grasping unknown objects by exploiting complementarity with robot hand geometry
Marios Kiatos and Sotiris Malassiotis · 2019
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Generating grasp poses for a high-dof gripper using neural networks
Min Liu, Zherong Pan, Kai Xu, Kanishka Ganguly, and Dinesh Manocha · 2019
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6-dof graspnet: Variational grasp generation for object manipulation
Arsalan Mousavian, Clemens Eppner, and Dieter Fox · 2019
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Explicitly imposing constraints in deep networks via conditional gradients gives improved generalization and faster convergence
Sathya N Ravi, Tuan Dinh, Vishnu Suresh Lokhande, and Vikas Singh · 2019
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Learning continuous 3d reconstructions for geometrically aware grasping
Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, and Tucker Hermans · 2019
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Robot packing with known items and nondeterministic arrival order
Fan Wang and Kris Hauser · 2019
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Stable bin packing of non-convex 3d objects with a robot manipulator
Fan Wang and Kris Hauser · 2019
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Pushing revisited: Differential flatness, trajectory planning, and stabilization
Jiaji Zhou, Yifan Hou, and Matthew T Mason · 2019
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Dexterous manipulation with deep reinforcement learning: Efficient, general, and low-cost
Henry Zhu, Abhishek Gupta, Aravind Rajeswaran, Sergey Levine, and Vikash Kumar · 2019
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