3 papers
cs.RO2026
First Plan Then Evaluate: Multi-Target Planning with Post-Planning Success Evaluation Improves Learning-Based Grasping Pipelines
Martin Matak, Mohanraj Devendran Shanthi, Karl Van Wyk +1
Autonomous multi-finger grasping is a fundamental capability in robotic manipulation. Optimization-based approaches show strong performance, but tend to be sensitive to initializat…
cs.RO2024
23 DoF Grasping Policies from a Raw Point Cloud
Martin Matak, Karl Van Wyk, Tucker Hermans
Coordinating the motion of robots with high degrees of freedom (DoF) to grasp objects gives rise to many challenges. In this paper, we propose a novel imitation learning approach t…
cs.RO2024
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk +5
A pivotal challenge in robotics is achieving fast, safe, and robust dexterous grasping across a diverse range of objects, an important goal within industrial applications. However,…