DexRepNet: Learning Dexterous Robotic Grasping Network with Geometric and Spatial Hand-Object Representations
Qingtao Liu,Yu Cui,Qi Ye,Zhengnan Sun,Haoming Li,Gaofeng Li,Lin Shao,Jiming Chen,Qingtao Liu,Yu Cui,Qi Ye,Zhengnan Sun,Haoming Li,Gaofeng Li,Lin Shao,Jiming Chen
Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep re-inforcement learning (DRL) based methods leverage human demonstrations to reduce sample complexity due to the high dimensional action space with dexterous grasping. However, less attention has been paid to hand-object interaction represe...
