GRIT learns dexterous grasping from sparse taxonomy guidance, achieving 87.9% success and better generalization to novel objects via a two-stage prediction-plus-policy approach.
Fungrasp: functional grasping for diverse dexterous hands
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Learning Dexterous Grasping from Sparse Taxonomy Guidance
GRIT learns dexterous grasping from sparse taxonomy guidance, achieving 87.9% success and better generalization to novel objects via a two-stage prediction-plus-policy approach.