CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation

19 September 2021

Kostas Bekris

Papers citing "CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation"

50 / 52 papers shown

Title
DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Cluttered Environments Lixin Xu Zixuan Liu Zhewei Gui Jingxiang Guo Zeyu Jiang Zhixuan Xu Chongkai Gao Lin Shao 27 0 0 06 Apr 2025
Geometrically-Aware One-Shot Skill Transfer of Category-Level Objects Cristiana Miranda de Farias Luis F. C. Figueredo Riddhiman Laha Maxime Adjigble Brahim Tamadazte Rustam Stolkin Sami Haddadin Naresh Marturi 46 0 0 19 Mar 2025
FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation Chao Tang Anxing Xiao Yuhong Deng Tianrun Hu Wenlong Dong Hanbo Zhang David Hsu Hong Zhang 73 2 0 24 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Y. Li 92 0 0 12 Feb 2025
Learning Generalizable 3D Manipulation With 10 Demonstrations Yu Ren Yang Cong Ronghan Chen Jiahao Long SSL 50 1 0 15 Nov 2024
Synthetica: Large Scale Synthetic Data for Robot Perception Ritvik Singh Jingzhou Liu Karl Van Wyk Yu-Wei Chao Jean-Francois Lafleche Florian Shkurti Nathan D. Ratliff Ankur Handa 23 1 0 28 Oct 2024
Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation Kejia Ren Gaotian Wang A. S. Morgan Lydia E. Kavraki Kaiyu Hang 43 1 0 30 Sep 2024
GraspMamba: A Mamba-based Language-driven Grasp Detection Framework with Hierarchical Feature Learning Huy Hoang Nguyen An Vuong Anh Nguyen Ian Reid Minh Nhat Vu Mamba 39 1 0 22 Sep 2024
One-shot Video Imitation via Parameterized Symbolic Abstraction Graphs Jianren Wang Kangni Liu Dingkun Guo Xian Zhou Christopher G Atkeson 32 0 0 22 Aug 2024
Simultaneous Localization and Affordance Prediction for Tasks in Egocentric Video Zachary Chavis Hyun Soo Park Stephen J. Guy EgoV 36 0 0 18 Jul 2024
OmniNOCS: A unified NOCS dataset and model for 3D lifting of 2D objects Akshay Krishnan Abhijit Kundu Kevis-Kokitsi Maninis James Hays Matthew Brown 21 8 0 11 Jul 2024
Robot Instance Segmentation with Few Annotations for Grasping Moshe Kimhi David Vainshtein Chaim Baskin Dotan Di Castro 53 2 0 01 Jul 2024
Language-driven Grasp Detection An Dinh Vuong Minh Nhat Vu Baoru Huang Nghia Nguyen Hieu Le T. Vo Anh Nguyen VLM 41 19 0 13 Jun 2024
ToolEENet: Tool Affordance 6D Pose Estimation Yunlong Wang Lei Zhang Yuyang Tu Hui Zhang Kaixin Bai Zhaopeng Chen Jianwei Zhang 25 1 0 05 Apr 2024
Self-supervised 6-DoF Robot Grasping by Demonstration via Augmented Reality Teleoperation System Xiwen Dengxiong Xueting Wang Shi Bai Yunbo Zhang 38 3 0 03 Apr 2024
Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangement Yichen Cai Jianfeng Gao Christoph Pohl Tamim Asfour 32 4 0 20 Mar 2024
FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object Hanzhi Chen Binbin Xu Stefan Leutenegger 29 4 0 08 Feb 2024
ICON: Incremental CONfidence for Joint Pose and Radiance Field Optimization Weiyao Wang Pierre Gleize Hao Tang Xingyu Chen Kevin J Liang Matt Feiszli 20 1 0 17 Jan 2024
FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects Bowen Wen Wei Yang Jan Kautz Stanley T. Birchfield 24 182 0 13 Dec 2023
CenterGrasp: Object-Aware Implicit Representation Learning for Simultaneous Shape Reconstruction and 6-DoF Grasp Estimation Eugenio Chisari Nick Heppert Tim Welschehold Wolfram Burgard Abhinav Valada 3DPC 27 17 0 13 Dec 2023
GraNet: A Multi-Level Graph Network for 6-DoF Grasp Pose Generation in Cluttered Scenes Haowen Wang Wanhao Niu Chungang Zhuang 21 7 0 06 Dec 2023
DiffCAD: Weakly-Supervised Probabilistic CAD Model Retrieval and Alignment from an RGB Image Daoyi Gao Dávid Rozenberszki Stefan Leutenegger Angela Dai DiffM 24 11 0 30 Nov 2023
Anthropomorphic Grasping with Neural Object Shape Completion Diego Hidalgo-Carvajal Hanzhi Chen G. C. Bettelani Jaesug Jung Melissa Zavaglia Laura Busse Abdeldjallil Naceri Stefan Leutenegger Sami Haddadin 29 6 0 04 Nov 2023
LanPose: Language-Instructed 6D Object Pose Estimation for Robotic Assembly Bowen Fu Sek Kun Leong Yan Di Jiwen Tang Xiangyang Ji 21 5 0 20 Oct 2023
Graph learning in robotics: a survey Francesca Pistilli Giuseppe Averta AI4CE GNN 26 7 0 06 Oct 2023
Task-Oriented Grasping with Point Cloud Representation of Objects Aditya Patankar Khiem Phi Dasharadhan Mahalingam Nilanjan Chakraborty IV Ramakrishnan 3DPC 25 2 0 20 Sep 2023
Grasp-Anything: Large-scale Grasp Dataset from Foundation Models An Vuong Minh Nhat Vu Hieu Le Baoru Huang B. Huynh T. Vo Andreas Kugi Anh Nguyen VLM 21 28 0 18 Sep 2023
Grasp Transfer based on Self-Aligning Implicit Representations of Local Surfaces Ahmet E. Tekden M. Deisenroth Yasemin Bekiroglu 18 5 0 15 Aug 2023
HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions Andrew Guo Bowen Wen Jianhe Yuan Jonathan Tremblay Stephen Tyree Jeffrey Smith Stan Birchfield 3DH 24 20 0 02 Aug 2023
Effectively Rearranging Heterogeneous Objects on Cluttered Tabletops Kai-Xin Gao Justin Yu Tanay Sandeep Punjabi Jingjin Yu 35 4 0 25 Jun 2023
Sim-Suction: Learning a Suction Grasp Policy for Cluttered Environments Using a Synthetic Benchmark Juncheng Li D. Cappelleri 3DPC 22 11 0 25 May 2023
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example Walter Goodwin Ioannis Havoutis Ingmar Posner 33 10 0 22 May 2023
Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph Zishun Zhou Liping Ma Xilong Liu Vaneet Aggarwal Junzhi Yu 8 6 0 04 May 2023
A Simple Approach for General Task-Oriented Picking using Placing constraints Jen-Wei Wang Lingfeng Sun Xinghao Zhu Q. Qian M. Tomizuka 23 3 0 03 Apr 2023
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects Bowen Wen Jonathan Tremblay Valts Blukis Stephen Tyree Thomas Müller Alex Evans D. Fox Jan Kautz Stan Birchfield 3DH 85 127 0 24 Mar 2023
SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variations Boyan Wan Yifei Shi Kai Xu 18 6 0 18 Mar 2023
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare Yann Labbé Lucas Manuelli Arsalan Mousavian Stephen Tyree Stan Birchfield Jonathan Tremblay Justin Carpentier Mathieu Aubry D. Fox Josef Sivic 35 126 0 13 Dec 2022
One-Shot Neural Fields for 3D Object Understanding Valts Blukis Taeyeop Lee Jonathan Tremblay Bowen Wen In So Kweon Kuk-Jin Yoon D. Fox Stan Birchfield 32 6 0 21 Oct 2022
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control Z-H. Tang Balakumar Sundaralingam Jonathan Tremblay Bowen Wen Ye Yuan Stephen Tyree Charles T. Loop A. Schwing Stan Birchfield 32 10 0 21 Oct 2022
One-Shot Transfer of Affordance Regions? AffCorrs! Denis Hadjivelichkov Sicelukwanda Zwane M. Deisenroth Lourdes Agapito Dimitrios Kanoulas 35 34 0 15 Sep 2022
Learning Category-Level Manipulation Tasks from Point Clouds with Dynamic Graph CNNs Junchi Liang Abdeslam Boularias 3DPC 27 8 0 13 Sep 2022
TransGrasp: Grasp Pose Estimation of a Category of Objects by Transferring Grasps from Only One Labeled Instance Hongtao Wen Jianhang Yan Wanli Peng Yi Sun 17 15 0 16 Jul 2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning Baichuan Huang Abdeslam Boularias Jingjin Yu 10 9 0 14 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
6N-DoF Pose Tracking for Tensegrity Robots Shiyang Lu W. R. Johnson Kun Wang Xiaonan Huang Joran W. Booth Rebecca Kramer‐Bottiglio Kostas Bekris 22 1 0 29 May 2022
Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter Baichuan Huang Teng Guo Abdeslam Boularias Jingjin Yu 11 13 0 03 Feb 2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration Bowen Wen Wenzhao Lian Kostas Bekris S. Schaal 17 89 0 30 Jan 2022
Fast High-Quality Tabletop Rearrangement in Bounded Workspace Doina Bucur Darren Lau Baichuan Huang Kostas E. Bekris Jingjin Yu 15 29 0 24 Oct 2021
Efficient and High-quality Prehensile Rearrangement in Cluttered and Confined Spaces Rui Wang Yinglong Miao Kostas E. Bekris 36 26 0 06 Oct 2021
se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains Bowen Wen Chaitanya Mitash Baozhang Ren Kostas E. Bekris 82 127 0 27 Jul 2020