2023
Geometry Matching for Multi-Embodiment Grasping
Maria Attarian, Muhammad Adil Asif, Jingzhou Liu, Ruthrash Hari, Animesh Garg, Igor Gilitschenski +1
CoRL 2023poster
While significant progress has been made on the problem of generating grasps, many existing learning-based approaches still concentrate on a single embodiment, provide limited generalization to higher DoF end-effectors and cannot capture a diverse set of grasp modes. In this paper, we tackle the pro…