AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy
Zhenjia Xu,Beichun Qi,Shubham Agrawal,Shuran Song,Zhenjia Xu,Beichun Qi,Shubham Agrawal,Shuran Song
This paper aims to improve robots’ versatility and adaptability by allowing them to use a large variety of end- effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes to novel grippers. By training on a large collection of grippers, our algorithm is able to acquire generalizable knowledge of how different grippers should be u...
