MISCGrasp combines multi-scale 3D features with contrastive learning on positive grasp samples and reports higher success and declutter rates than VGN for power and pinch grasping in simulation and on a real robot.
Orbitgrasp: Se (3)-equivariant grasp learning,
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MISCGrasp: Leveraging Multiple Integrated Scales and Contrastive Learning for Enhanced Volumetric Grasping
MISCGrasp combines multi-scale 3D features with contrastive learning on positive grasp samples and reports higher success and declutter rates than VGN for power and pinch grasping in simulation and on a real robot.