FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object
Hanzhi Chen,Binbin Xu,Stefan Leutenegger,Hanzhi Chen,Binbin Xu,Stefan Leutenegger
We present FuncGrasp, a framework that can infer dense yet reliable grasp configurations for unseen objects using one annotated object and single-view RGB-D observation via categorical priors. Unlike previous works that only transfer a set of grasp poses, FuncGrasp aims to transfer infinite configurations parameterized by an object-centric continuous grasp function across varying instances. To eas...
