GenDexGrasp: Generalizable Dexterous Grasping
Puhao Li,Tengyu Liu,Yuyang Li,Yiran Geng,Yixin Zhu,Yaodong Yang,Siyuan Huang,Puhao Li,Tengyu Liu,Yuyang Li,Yiran Geng,Yixin Zhu,Yaodong Yang,Siyuan Huang
Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods primarily suffer from two issues. First, most prior art focuses on a specific type of robot hand, lacking generalizable capability of handling unseen ones. Second, prior arts oftentimes fail to rapidly generate diverse grasps with a high success rate. To jointly tackle the...
