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cs.RO2023
Gravity-aware Grasp Generation with Implicit Grasp Mode Selection for Underactuated Hands
Tianyi Ko, Takuya Ikeda, Thomas Stewart +2
Learning-based grasp detectors typically assume a precision grasp, where each finger only has one contact point, and estimate the grasp probability. In this work, we propose a data…
cs.CV2023
GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondence
Pengyuan Wang, Takuya Ikeda, Robert Lee +1
Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great prog…