Grasp Generation
15 papers with code • 0 benchmarks • 3 datasets
Benchmarks
These leaderboards are used to track progress in Grasp Generation
GRAB
A Billion Ways to Grasp
rc_49
Most implemented papers
HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios
Estimating 6D object poses is a major challenge in 3D computer vision.
KGNv2: Separating Scale and Pose Prediction for Keypoint-based 6-DoF Grasp Synthesis on RGB-D input
ivalab/kgn
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We propose a new 6-DoF grasp pose synthesis approach from 2D/2. 5D input based on keypoints.
Toward a Plug-and-Play Vision-Based Grasping Module for Robotics
This framework addresses two main issues: the lack of an off-the-shelf vision module for detecting object pose and the generalization of QD trajectories to the whole robot operational space.
UGG: Unified Generative Grasping
autonomousvision/shape_as_points
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Generation-based methods that generate grasping postures conditioned on the object can often produce diverse grasping, but they are insufficient for high grasping success due to lack of discriminative information.
Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes
THU-VCLab/HGGD
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IEEE ROBOTICS AND AUTOMATION LETTERS 2023
Specifically, Gaussian encoding and the grid-based strategy are applied to predict grasp heatmaps as guidance to aggregate local points into graspable regions and provide global semantic information.
