TransGrasp: A Multi-Scale Hierarchical Point Transformer for 7-DoF Grasp Detection
Zhixuan Liu,Zibo Chen,Shangjin Xie,Wei–Shi Zheng,Zhixuan Liu,Zibo Chen,Shangjin Xie,Wei–Shi Zheng
Robotic grasping pose detection that predicts the configuration of the robotic gripper for object grasping is fundamental in robot manipulation. Based on point clouds, most of the existing methods predict grasp pose with the hierarchical PointNet++ backbone, while the non-local geometric information is underexplored. In this work, we address the 7-DoF (6- DoF with the grasp width) grasp detection ...
