A Two-stage Learning Architecture that Generates High-Quality Grasps for a Multi-Fingered Hand
Dominik Winkelbauer,Berthold Bäuml,Matthias Humt,Nils Thuerey,Rudolph Triebel,Dominik Winkelbauer,Berthold Bäuml,Matthias Humt,Nils Thuerey,Rudolph Triebel
We investigate the problem of planning stable grasps for object manipulations using an 18-DOF robotic hand with four fingers. The main challenge here is the high-dimensional search space, and we address this problem using a novel two-stage learning process. In the first stage, we train an autoregressive network called the hand-pose-generator, which learns to generate a distribution of valid 6D pos...