3 papers
cs.RO2025
Simultaneous Pick and Place Detection by Combining SE(3) Diffusion Models with Differential Kinematics
Tianyi Ko, Takuya Ikeda, Balazs Opra +1
Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable d…
cs.RO2024
A Planar-Symmetric SO(3) Representation for Learning Grasp Detection
Tianyi Ko, Takuya Ikeda, Hiroya Sato +1
Planar-symmetric hands, such as parallel grippers, are widely adopted in both research and industrial fields. Their symmetry, however, introduces ambiguity and discontinuity in the…
cs.RO2024
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…