TD-TOG provides a real-world, multi-object, hand-annotated dataset for task-oriented grasping, and Binary-TOG achieves 68.9% average task-oriented grasp accuracy in multi-object scenes without retraining.
Learning task-oriented grasping for tool manipulation from simulated self-supervision
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TD-TOG Dataset: Benchmarking Zero-Shot and One-Shot Task-Oriented Grasping for Object Generalization
TD-TOG provides a real-world, multi-object, hand-annotated dataset for task-oriented grasping, and Binary-TOG achieves 68.9% average task-oriented grasp accuracy in multi-object scenes without retraining.