Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation

arXiv:2404.04643v1 Announce Type: cross
Abstract: Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries involved, requiring a deep understanding of the local geometry to generate grasps efficiently on the specified constrained regions. Existing methods only explore settings involving table-top/small objects and require augmented datasets to train, limiting their performance on complex objects. We propose CGDF: …

abstract arm arxiv challenge cs.cv cs.ro geometry manipulation object robotic robotic manipulation setup tasks type understanding vital