AdvGrasp generates adversarial object deformations that increase gravitational torque and reduce wrench-space stability margins, often degrading robot grasp performance in simulation and on two real objects.
Physical and digital adversarial attacks on grasp quality networks
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AdvGrasp: Adversarial Attacks on Robotic Grasping from a Physical Perspective
AdvGrasp generates adversarial object deformations that increase gravitational torque and reduce wrench-space stability margins, often degrading robot grasp performance in simulation and on two real objects.