Constrained Generative Sampling of 6-DoF Grasps
Jens Lundell,Francesco Verdoja,Tran Nguyen Le,Arsalan Mousavian,Dieter Fox,Ville Kyrki,Jens Lundell,Francesco Verdoja,Tran Nguyen Le,Arsalan Mousavian,Dieter Fox,Ville Kyrki
Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific tasks, such as squeezing out liquid from a bottle, we want the grasp to be on a specific part of the object's body while avoiding other locations, such as the cap. T...
