Refining 6-DoF Grasps with Context-Specific Classifiers
Tasbolat Taunyazov,Heng Zhang,John Patrick Eala,Na Zhao,Harold Soh,Tasbolat Taunyazov,Heng Zhang,John Patrick Eala,Na Zhao,Harold Soh
In this work, we present GraspFlow, a refinement approach for generating context-specific grasps. We formulate the problem of grasp synthesis as a sampling problem: we seek to sample from a context-conditioned probability distribution of successful grasps. However, this target distribution is unknown. As a solution, we devise a discriminator gradient-flow method to evolve grasps obtained from a si...
