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This work explores conditions under which multi-finger grasping algorithms can attain robust sim-to-real transfer.
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Leveraging big data for grasp planning
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Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network
Q. Lu, K. Chenna, B. Sundaralingam, and T. Hermans · 2018
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Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection
S. Levine, P. Pastor, A. Krizhevsky, J. Ibarz, and D. Quillen · 2018
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Planning multi-fingered grasps as probabilistic inference in a learned deep network, 2018
Q. Lu, K. Chenna, B. Sundaralingam, and T. Hermans · 2018
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Predicting grasp success in the real world - a study of quality metrics and human assessment
C. Rubert, D. Kappler, J. Bohg, and A. Morales · 2019
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Efficient learning on point clouds with basis point sets, 2019
S. Prokudin, C. Lassner, and J. Romero · 2019
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Efficient learning on point clouds with basis point sets
S. Prokudin, C. Lassner, and J. Romero · 2019
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Q. Lu, M. Van der Merwe, B. Sundaralingam, and T. Hermans · 2020
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Unigrasp: Learning a unified model to grasp with multifingered robotic hands
L. Shao, F. Ferreira, M. Jorda, V. Nambiar, J. Luo, E. Solowjow, J. A. Ojea, O. Khatib, and J. Bohg · 2020
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NeRF: Representing scenes as neural radiance fields for view synthesis
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Dex-NeRF: Using a neural radiance field to grasp transparent objects
J. Ichnowski*, Y. Avigal*, J. Kerr, and K. Goldberg · 2020
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ACRONYM: A large-scale grasp dataset based on simulation
C. Eppner, A. Mousavian, and D. Fox · 2020
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Deep differentiable grasp planner for high-dof grippers, 2020
M. Liu, Z. Pan, K. Xu, K. Ganguly, and D. Manocha · 2020
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Learning continuous 3d reconstructions for geometrically aware grasping, 2020
Gendexgrasp: Generalizable dexterous grasping
P. Li, T. Liu, Y. Li, Y. Zhu, Y. Yang, and S. Huang · 2022
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Instant neural graphics primitives with a multiresolution hash encoding
T. Müller, A. Evans, C. Schied, and A. Keller · 2022
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Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy, 2023
Y. Xu, W. Wan, J. Zhang, H. Liu, Z. Shan, H. Shen, R. Wang, H. Geng, Y. Weng, J. Chen, T. Liu, L. Yi, and H. Wang · 2023
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Fast-grasp’d: Dexterous multi-finger grasp generation through differentiable simulation, 2023
D. Turpin, T. Zhong, S. Zhang, G. Zhu, J. Liu, R. Singh, E. Heiden, M. Macklin, S. Tsogkas, S. Dickinson, and A. Garg · 2023
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Geometry matching for multi-embodiment grasping, 2023
M. Attarian, M. A. Asif, J. Liu, R. Hari, A. Garg, I. Gilitschenski, and J. Tompson · 2023
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M. V. der Merwe, Q. Lu, B. Sundaralingam, M. Matak, and T. Hermans · 2020
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Multifingered grasp planning via inference in deep neural networks: Outperforming sampling by learning differentiable models
Q. Lu, M. Van der Merwe, B. Sundaralingam, and T. Hermans · 2020
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
M. Sundermeyer, A. Mousavian, R. Triebel, and D. Fox · 2021
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Isaac gym: High performance GPU-Based physics simulation for robot learning, 2021
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State · 2021
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Isaac gym: High performance GPU-Based physics simulation for robot learning, 2021
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State · 2021
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ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
C. Eppner, A. Mousavian, and D. Fox · 2021
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Emg-driven shared human-robot compliant control for in-hand object manipulation in hand prostheses
F. Khadivar, V. Mendez, C. Correia, I. Batzianoulis, A. Billard, and S. Micera · 2022
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Frogger: Fast robust grasp generation via the min-weight metric
A. H. Li, P. Culbertson, J. W. Burdick, and A. D. Ames · 2023
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Leap hand: Low-cost, efficient, and anthropomorphic hand for robot learning, 2023
K. Shaw, A. Agarwal, and D. Pathak · 2023
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GraspNeRF: Multiview-based 6-DoF grasp detection for transparent and specular objects using generalizable NeRF
Q. Dai, Y. Zhu, Y. Geng, C. Ruan, J. Zhang, and H. Wang · 2023
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Language embedded radiance fields for zero-shot task-oriented grasping
A. Rashid, S. Sharma, C. M. Kim, J. Kerr, L. Y. Chen, A. Kanazawa, and K. Goldberg · 2023
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Distilled feature fields enable few-shot language-guided manipulation
W. Shen, G. Yang, A. Yu, J. Wong, L. P. Kaelbling, and P. Isola · 2023
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Fast-grasp’d: Dexterous multi-finger grasp generation through differentiable simulation
D. Turpin, T. Zhong, S. Zhang, G. Zhu, E. Heiden, M. Macklin, S. Tsogkas, S. Dickinson, and A. Garg · 2023
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Nerfstudio: A modular framework for neural radiance field development
M. Tancik, E. Weber, E. Ng, R. Li, B. Yi, T. Wang, A. Kristoffersen, J. Austin, K. Salahi, A. Ahuja, D. Mcallister, J. Kerr, and A. Kanazawa · 2023
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Fast-grasp’d: Dexterous multi-finger grasp generation through differentiable simulation, 2023
D. Turpin, T. Zhong, S. Zhang, G. Zhu, J. Liu, R. Singh, E. Heiden, M. Macklin, S. Tsogkas, S. Dickinson, and A. Garg · 2023
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Nerfstudio: A modular framework for neural radiance field development
M. Tancik, E. Weber, E. Ng, R. Li, B. Yi, T. Wang, A. Kristoffersen, J. Austin, K. Salahi, A. Ahuja, D. Mcallister, J. Kerr, and A. Kanazawa · 2023
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Nerfbusters: Removing ghostly artifacts from casually captured nerfs
F. Warburg*, E. Weber*, M. Tancik, A. Hołyński, and A. Kanazawa · 2023
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Frogger: Fast robust grasp generation via the min-weight metric
A. H. Li, P. Culbertson, J. W. Burdick, and A. D. Ames · 2023
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Curobo: Parallelized collision-free robot motion generation
B. Sundaralingam, S. K. S. Hari, A. Fishman, C. Garrett, K. Van Wyk, V. Blukis, A. Millane, H. Oleynikova, A. Handa, F. Ramos, N. Ratliff, and D. Fox · 2023
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A versatile humanoid robot platform for dexterous manipulation and human–robot collaboration
X. Shu, F. Ni, X. Fan, S. Yang, C. Liu, B. Tu, Y. Liu, and H. Liu · 2024
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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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Toward an analytic theory of intrinsic robustness for dexterous grasping, 2024
A. H. Li, P. Culbertson, and A. D. Ames · 2024
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Learning any-view 6dof robotic grasping in cluttered scenes via neural surface rendering, 2024
S. Jauhri, I. Lunawat, and G. Chalvatzaki · 2024
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Multigrippergrasp: A dataset for robotic grasping from parallel jaw grippers to dexterous hands, 2024
L. F. C. Murrilo, N. Khargonkar, B. Prabhakaran, and Y. Xiang · 2024
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Dexdiffuser: Generating dexterous grasps with diffusion models, 2024
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Toward an analytic theory of intrinsic robustness for dexterous grasping, 2024
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