CAPGrasp: An ${\mathbb{R}}^3\times \text{SO(2)-equivariant}$ Continuous Approach-Constrained Generative Grasp Sampler

Zehang Weng, Haofei Lu, Jens Lundell +1

We propose CAPGrasp, an ${\mathbb{R}}^3\times \text{SO(2)-equivariant}$ 6-DoF continuous approach-constrained generative grasp sampler. It includes a novel learning strategy for trai…