FastGrasp uses two-stage RL with CVAE for diverse grasp candidates from point clouds and tactile sensing for impact adjustments to achieve robust fast whole-body grasping in sim and real-world settings.
Learning dexterous manipulation from exemplar object trajectories and pre-grasps
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FastGrasp: Learning-based Whole-body Control method for Fast Dexterous Grasping with Mobile Manipulators
FastGrasp uses two-stage RL with CVAE for diverse grasp candidates from point clouds and tactile sensing for impact adjustments to achieve robust fast whole-body grasping in sim and real-world settings.