CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
Bowen Wen,Wenzhao Lian,Kostas Bekris,Stefan Schaal,Bowen Wen,Wenzhao Lian,Kostas Bekris,Stefan Schaal
Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is challenging, since task-relevant grasp labels are hard to define and annotate. There is also yet no consensus on proper representations for modeling or off-the-shelf tools for performing task-relevant grasps. This work pro...
