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Synthesizing diverse, uncertainty-aware grasps for multi-fingered hands from partial observations remains a critical challenge in robot learning.
Handling shape and contact location uncertainty in grasping two-dimensional planar objects
V. N. Christopoulos and P. Schrater · 2007
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Measure theory
V. I. Bogachev and M. A. S. Ruas · 2007
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Multisensory five-finger dexterous hand: The dlr/hit hand ii
H. Liu, K. Wu, P. Meusel, N. Seitz, G. Hirzinger, M. Jin, Y. Liu, S. Fan, T. Lan, and Z. Chen · 2008
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Gaussian process implicit surfaces for shape estimation and grasping
S. Dragiev, M. Toussaint, and M. Gienger · 2011
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The kit object models database: An object model database for object recognition, localization and manipulation in service robotics
A. Kasper, Z. Xue, and R. Dillmann · 2012
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Auto-encoding variational bayes
D. P. Kingma and M. Welling · 2013
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The ycb object and model set: Towards common benchmarks for manipulation research
B. Calli, A. Singh, A. Walsman, S. Srinivasa, P. Abbeel, and A. M. Dollar · 2015
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Dexterous grasping under shape uncertainty
M. Li, K. Hang, D. Kragic, and A. Billard · 2016
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Density estimation using real nvp
L. Dinh, J. Sohl-Dickstein, and S. Bengio · 2016
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Variational inference: A review for statisticians
D. M. Blei, A. Kucukelbir, and J. D. McAuliffe · 2017
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Leveraging the exact likelihood of deep latent variable models
P.-A. Mattei and J. Frellsen · 2018
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On gans and gmms
E. Richardson and Y. Weiss · 2018
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Gaussian process prior variational autoencoders
F. P. Casale, A. Dalca, L. Saglietti, J. Listgarten, and N. Fusi · 2018
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Vae with a vampprior
J. Tomczak and M. Welling · 2018
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A probabilistic framework for uncertainty-aware high-accuracy precision grasping of unknown objects
D. Chen, V. Dietrich, Z. Liu, and G. Von Wichert · 2018
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Glow: Generative flow with invertible 1x1 convolutions
D. P. Kingma and P. Dhariwal · 2018
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Which training methods for gans do actually converge?
L. Mescheder, A. Geiger, and S. Nowozin · 2018
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6-dof graspnet: Variational grasp generation for object manipulation
A. Mousavian, C. Eppner, and D. Fox · 2019
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Infovae: Balancing learning and inference in variational autoencoders
S. Zhao, J. Song, and S. Ermon · 2019
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Robust grasp planning over uncertain shape completions
J. Lundell, F. Verdoja, and V. Kyrki · 2019
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Learning probabilistic multi-modal actor models for vision-based robotic grasping
M. Yan, A. Li, M. Kalakrishnan, and P. Pastor · 2019
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Conditional wgan for grasp generation
F. Patzelt, R. Haschke, and H. J. Ritter · 2019
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An introduction to variational autoencoders
D. P. Kingma, M. Welling, et al · 2019
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Introspective robot perception using smoothed predictions from bayesian neural networks
J. Feng, M. Durner, Z.-C. Márton, F. Bálint-Benczédi, and R. Triebel · 2019
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Learning likelihoods with conditional normalizing flows
C. Winkler, D. Worrall, E. Hoogeboom, and M. Welling · 2019
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Efficient learning on point clouds with basis point sets
Shape completion with prediction of uncertain regions
M. Humt, D. Winkelbauer, and U. Hillenbrand · 2023
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Topology-matching normalizing flows for out-of-distribution detection in robot learning
J. Feng, J. Lee, S. Geisler, S. Günnemann, and R. Triebel · 2023
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Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy
Y. Xu, W. Wan, J. Zhang, H. Liu, Z. Shan, H. Shen, R. Wang, H. Geng, Y. Weng, J. Chen, et al · 2023
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A survey of uncertainty in deep neural networks
J. Gawlikowski, C. R. N. Tassi, M. Ali, J. Lee, M. Humt, J. Feng, A. Kruspe, R. Triebel, P. Jung, R. Roscher, et al · 2023
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Flow matching for generative modeling, 2023
Y. Lipman, R. T. Q. Chen, H. Ben-Hamu, M. Nickel, and M. Le · 2023
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S. Prokudin, C. Lassner, and J. Romero · 2019
Cited alongside, same era.
Grasping detection network with uncertainty estimation for confidence-driven semi-supervised domain adaptation
H. Zhu, Y. Li, F. Bai, W. Chen, X. Li, J. Ma, C. S. Teo, P. Yuen Tao, and W. Lin · 2020
Cited alongside, same era.
Discrete point flow networks for efficient point cloud generation
R. Klokov, E. Boyer, and J. Verbeek · 2020
Cited alongside, same era.
Posterior network: Uncertainty estimation without ood samples via density-based pseudo-counts
B. Charpentier, D. Zügner, and S. Günnemann · 2020
Cited alongside, same era.
The hidden uncertainty in a neural networks activations
J. Postels, H. Blum, Y. Strümpler, C. Cadena, R. Siegwart, L. Van Gool, and F. Tombari · 2020
Cited alongside, same era.
Why normalizing flows fail to detect out-of-distribution data
P. Kirichenko, P. Izmailov, and A. G. Wilson · 2020
Cited alongside, same era.
Normalizing flows for probabilistic modeling and inference
G. Papamakarios, E. Nalisnick, D. J. Rezende, S. Mohamed, and B. Lakshminarayanan · 2021
Cited alongside, same era.
J. Feng, M. Atad, I. V. Rodriguez Brena, M. Durner, and R. Triebel · 2023
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Dexdiffuser: Generating dexterous grasps with diffusion models, 2024
Z. Weng, H. Lu, D. Kragic, and J. Lundell · 2024
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Multi-fingered robotic hand grasping in cluttered environments through hand-object contact semantic mapping, 2024
L. Zhang, K. Bai, G. Huang, Z. Bing, Z. Chen, A. Knoll, and J. Zhang · 2024
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Equigraspflow: SE(3)-equivariant 6-dof grasp pose generative flows
B. Lim, J. Kim, J. Kim, Y. Lee, and F. C. Park · 2024
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Dexgraspnet 2.0: Learning generative dexterous grasping in large-scale synthetic cluttered scenes, 2024
J. Zhang, H. Liu, D. Li, X. Yu, H. Geng, Y. Ding, J. Chen, and H. Wang · 2024
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J. Carvalho, A. T. Le, P. Jahr, Q. Sun, J. Urain, D. Koert, and J. Peters · 2024
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Dexgangrasp: Dexterous generative adversarial grasping synthesis for task-oriented manipulation, 2024
Q. Feng, D. S. M. Lema, M. Malmir, H. Li, J. Feng, Z. Chen, and A. Knoll · 2024
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Multi-fingered dynamic grasping for unknown objects, 2024
Y. Burkhardt, Q. Feng, J. Feng, K. Sharma, Z. Chen, and A. Knoll · 2024
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Uncertainty-driven exploration strategies for online grasp learning
Y. Shi, P. Schillinger, M. Gabriel, A. Qualmann, Z. Feldman, H. Ziesche, and N. A. Vien · 2024
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Uncertainty-aware suction grasping for cluttered scenes
R. Cao, B. Yang, Y. Li, C.-W. Fu, P.-A. Heng, and Y.-H. Liu · 2024
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vmf-contact: Uncertainty-aware evidential learning for probabilistic contact-grasp in noisy clutter
Y. Shi, E. Welte, M. Gilles, and R. Rayyes · 2024
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Get a grip: Multi-finger grasp evaluation at scale enables robust sim-to-real transfer, 2024
T. G. W. Lum, A. H. Li, P. Culbertson, K. Srinivasan, A. D. Ames, M. Schwager, and J. Bohg · 2024
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Evaluating uncertainty-based failure detection for closed-loop llm planners
Z. Zheng, Q. Feng, H. Li, A. Knoll, and J. Feng · 2024
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Springgrasp: An optimization pipeline for robust and compliant dexterous pre-grasp synthesis
S. Chen, J. Bohg, and C. K. Liu · 2024
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Amortized inference for efficient grasp model adaptation
M. Noseworthy, S. Seiji, C. Kessens, and N. Roy · 2024
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