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cs.RO2023
GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional Grasps
Tasbolat Taunyazov, Kelvin Lin, Harold Soh
This paper addresses the multi-faceted problem of robot grasping, where multiple criteria may conflict and differ in importance. We introduce a probabilistic framework, Grasp Ranki…
cs.RO2023
Refining 6-DoF Grasps with Context-Specific Classifiers
Tasbolat Taunyazov, Heng Zhang, John Patrick Eala +2
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 samp…