Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network

10 April 2018

Qingkai Lu

Kautilya Chenna

Balakumar Sundaralingam

Tucker Hermans

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Papers citing "Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network"

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LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation Qian Feng David S. Martinez Lema Jianxiang Feng Zhaopeng Chen Alois C. Knoll 39 0 0 05 Mar 2025
23 DoF Grasping Policies from a Raw Point Cloud Martin Matak Karl Van Wyk Tucker Hermans 3DPC 80 0 0 21 Nov 2024
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer Tyler Ga Wei Lum Albert H. Li Preston Culbertson K. Srinivasan Aaron D. Ames Mac Schwager Jeannette Bohg 40 2 0 31 Oct 2024
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes Sixu Yan Zeyu Zhang Muzhi Han Zaijin Wang Qi Xie Zhitian Li Zhehan Li Hangxin Liu Xinggang Wang Song-Chun Zhu 57 4 0 15 Oct 2024
Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping Albert H. Li Preston Culbertson Aaron D. Ames 18 0 0 12 Mar 2024
SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation Qianxu Wang Haotong Zhang Congyue Deng Yang You Hao Dong Yixin Zhu Leonidas J. Guibas 29 18 0 25 Oct 2023
PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability Albert H. Li Preston Culbertson Aaron D. Ames 19 1 0 29 Sep 2023
Refining 6-DoF Grasps with Context-Specific Classifiers Tasbolat Taunyazov Heng Zhang John Patrick Eala Na Zhao Harold Soh 25 2 0 14 Aug 2023
DMFC-GraspNet: Differentiable Multi-Fingered Robotic Grasp Generation in Cluttered Scenes Philipp Blättner Johannes Brand Gerhard Neumann Ngo Anh Vien 16 0 0 01 Aug 2023
Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects Sirui Chen A. Wu C.Karen Liu 21 17 0 08 May 2023
Implicit representation priors meet Riemannian geometry for Bayesian robotic grasping Norman Marlier Julien Gustin O. Bruls Gilles Louppe 28 0 0 18 Apr 2023
UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning Weikang Wan Haoran Geng Yun-Hai Liu Zikang Shan Yaodong Yang Li Yi He-Nan Wang 44 94 0 02 Apr 2023
Simulation-based Bayesian inference for robotic grasping Norman Marlier O. Bruls Gilles Louppe 19 4 0 10 Mar 2023
KGNv2: Separating Scale and Pose Prediction for Keypoint-based 6-DoF Grasp Synthesis on RGB-D input Yiye Chen Ruinian Xu Yunzhi Lin Hongyi Chen Patricio A. Vela 3DPC 43 4 0 09 Mar 2023
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric Albert H. Li Preston Culbertson J. W. Burdick Aaron D. Ames OffRL 18 14 0 27 Feb 2023
Where To Start? Transferring Simple Skills to Complex Environments Vitalis Vosylius Edward Johns 19 12 0 12 Dec 2022
DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation Yuzhe Qin Binghao Huang Zhao-Heng Yin Hao Su Xiaolong Wang 3DPC 29 78 0 17 Nov 2022
Keypoint-GraspNet: Keypoint-based 6-DoF Grasp Generation from the Monocular RGB-D input Yiye Chen Yunzhi Lin Ruinian Xu Patricio Vela 3DV 3DPC 36 10 0 19 Sep 2022
SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion Julen Urain Niklas Funk Jan Peters Georgia Chalvatzaki DiffM 55 118 0 08 Sep 2022
GE-Grasp: Efficient Target-Oriented Grasping in Dense Clutter Z. Liu Ziwei Wang Sichao Huang Jie Zhou Jiwen Lu 33 22 0 25 Jul 2022
Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations Jianglong Ye Jiashun Wang Binghao Huang Yuzhe Qin Xiaolong Wang 104 50 0 11 Jul 2022
Deep Learning Approaches to Grasp Synthesis: A Review Rhys Newbury Morris Gu Lachlan Chumbley Arsalan Mousavian Clemens Eppner ... A. Morales Tamim Asfour Danica Kragic D. Fox Akansel Cosgun 34 162 0 06 Jul 2022
Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimization A. Wu Michelle Guo C. Karen Liu 14 30 0 01 Jul 2022
Learning Generalizable Dexterous Manipulation from Human Grasp Affordance Yueh-hua Wu Jiashun Wang Xiaolong Wang 21 55 0 05 Apr 2022
Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interaction Qijin She Ruizhen Hu Juzhan Xu Min Liu Kai Xu Hui Huang 23 83 0 03 Apr 2022
Primitive Shape Recognition for Object Grasping Yunzhi Lin Chao Tang Fu-Jen Chu Ruinian Xu Patricio A. Vela 11 7 0 04 Jan 2022
Simulation-based Bayesian inference for multi-fingered robotic grasping Norman Marlier O. Bruls Gilles Louppe 29 6 0 29 Sep 2021
Excavation Learning for Rigid Objects in Clutter Qingkai Lu Liangjun Zhang 18 14 0 09 Jul 2021
GKNet: grasp keypoint network for grasp candidates detection Ruinian Xu Fu-Jen Chu Patricio A. Vela 3DPC 24 37 0 16 Jun 2021
Learning to Detect Multi-Modal Grasps for Dexterous Grasping in Dense Clutter Matt Corsaro Stefanie Tellex G. Konidaris 3DPC 17 9 0 07 Jun 2021
Learning 6DoF Grasping Using Reward-Consistent Demonstration D. Kawakami Ryoichi Ishikawa Menandro Roxas Yoshihiro Sato Takeshi Oishi 10 3 0 23 Mar 2021
AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy Zhenjia Xu Beichun Qi Shubham Agrawal Shuran Song 24 42 0 28 Nov 2020
Planning under Uncertainty to Goal Distributions Adam Conkey Tucker Hermans 17 3 0 09 Nov 2020
ContactPose: A Dataset of Grasps with Object Contact and Hand Pose Samarth Brahmbhatt Chengcheng Tang Christopher D. Twigg Charles C. Kemp James Hays 21 208 0 19 Jul 2020
Multi-Fingered Active Grasp Learning Qingkai Lu Mark Van der Merwe Tucker Hermans 11 32 0 06 Jun 2020
Reaching, Grasping and Re-grasping: Learning Multimode Grasping Skills Wenbin Hu Chuanyu Yang Kai Yuan Zhibin Li 11 5 0 11 Feb 2020
Deep Differentiable Grasp Planner for High-DOF Grippers Min Liu Zherong Pan Kai Xu Kanishka Ganguly Dinesh Manocha 23 71 0 04 Feb 2020
Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations Shuran Song Andy Zeng Johnny Lee Thomas Funkhouser 10 218 0 09 Dec 2019
Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies Visak C. V. Kumar Tucker Hermans D. Fox Stan Birchfield Jonathan Tremblay 16 14 0 21 Nov 2019
UniGrasp: Learning a Unified Model to Grasp with Multifingered Robotic Hands Lin Shao Fabio Ferreira Mikael Jorda Varun Nambiar Jianlan Luo Eugen Solowjow J. A. Ojea O. Khatib Jeannette Bohg 6 7 0 24 Oct 2019
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping Mark Van der Merwe Qingkai Lu Balakumar Sundaralingam Martin Matak Tucker Hermans 3DV 15 88 0 02 Oct 2019
Using Synthetic Data and Deep Networks to Recognize Primitive Shapes for Object Grasping Yunzhi Lin Chao Tang Fu-Jen Chu Patricio A. Vela 3DPC 13 39 0 12 Sep 2019
New Formulation of Mixed-Integer Conic Programming for Globally Optimal Grasp Planning Min Liu Zherong Pan Kai Xu Dinesh Manocha 26 11 0 12 Sep 2019
MAT: Multi-Fingered Adaptive Tactile Grasping via Deep Reinforcement Learning Bohan Wu Iretiayo Akinola Jacob Varley Peter K. Allen 15 53 0 10 Sep 2019
Deep Dexterous Grasping of Novel Objects from a Single View U. R. Aktas Chaoyi Zhao Marek Kopicki A. Leonardis J. Wyatt 4 23 0 10 Aug 2019
Learning better generative models for dexterous, single-view grasping of novel objects Marek Kopicki D. Belter J. Wyatt 16 32 0 13 Jul 2019
6-DOF GraspNet: Variational Grasp Generation for Object Manipulation Arsalan Mousavian Clemens Eppner D. Fox 3DPC 16 559 0 25 May 2019
Generating Grasp Poses for a High-DOF Gripper Using Neural Networks Min Liu Zherong Pan Kai Xu Kanishka Ganguly Dinesh Manocha 27 76 0 01 Mar 2019
Modeling Grasp Type Improves Learning-Based Grasp Planning Qingkai Lu Tucker Hermans 16 40 0 10 Jan 2019
ROI-based Robotic Grasp Detection for Object Overlapping Scenes Hanbo Zhang Xuguang Lan Site Bai Xinwen Zhou Zhiqiang Tian Nanning Zheng 13 155 0 30 Aug 2018