FineGrasp improves 6-DoF grasp detection for small/delicate objects using instance-normalized graspness labels, multi-range attention, surface-normal priors, and sim-to-real training.
Copa: General robotic manipulation through spatial constraints of parts with foundation models,
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FineGrasp: Towards Robust Grasping for Delicate Objects
FineGrasp improves 6-DoF grasp detection for small/delicate objects using instance-normalized graspness labels, multi-range attention, surface-normal priors, and sim-to-real training.