{"paper":{"title":"CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Bowen Wen, Kostas Bekris, Stefan Schaal, Wenzhao Lian","submitted_at":"2021-09-19T16:48:33Z","abstract_excerpt":"Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is challenging, since task-relevant grasp labels are hard to define and annotate. There is also yet no consensus on proper representations for modeling or off-the-shelf tools for performing task-relevant grasps. This work proposes a framework to learn task-relevant grasping for industrial objects without the need of time-consuming real-world data collection or manual annotation. To achieve this, the entire framework is tr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.09163","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2109.09163/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}