CMG-Net: An End-to-End Contact-based Multi-Finger Dexterous Grasping Network
Mingze Wei,Yaomin Huang,Zhiyuan Xu,Ning Liu,Zhengping Che,Xinyu Zhang,Chaomin Shen,Feifei Feng,Chun Shan,Jian Tang,Mingze Wei,Yaomin Huang,Zhiyuan Xu,Ning Liu,Zhengping Che,Xinyu Zhang,Chaomin Shen,Feifei Feng,Chun Shan,Jian Tang
In this paper, we propose a novel representation for grasping using contacts between multi-finger robotic hands and objects to be manipulated. This representation significantly reduces the prediction dimensions and accelerates the learning process. We present an effective end-to-end network, CMG-Net, for grasping unknown objects in a cluttered environment by efficiently predicting multi-finger gra...
