A two-stage diffusion framework that learns task-aware contact maps from initial and goal scene point clouds generates human grasps that avoid collisions and complete Placing, Stacking, and Shelving tasks.
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Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffusers
A two-stage diffusion framework that learns task-aware contact maps from initial and goal scene point clouds generates human grasps that avoid collisions and complete Placing, Stacking, and Shelving tasks.