A novel tri-plane equivariant volumetric grasp model adapts GIGA and IGD planners with flow matching and deformable attention to achieve higher real-time performance than non-equivariant baselines.
Synergies between affordance and geometry: 6-dof grasp detection via implicit representa- tions
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The viewpoint-agnostic grasp pipeline using VLM and partial observation handling achieves 90% success (9/10 trials) in cluttered tabletop scenarios on a real quadruped robot, outperforming a view-dependent baseline at 30% (3/10) through open-vocabulary detection, point cloud completion, and safety-0
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Equivariant Volumetric Grasping
A novel tri-plane equivariant volumetric grasp model adapts GIGA and IGD planners with flow matching and deformable attention to achieve higher real-time performance than non-equivariant baselines.
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Viewpoint-Agnostic Grasp Pipeline using VLM and Partial Observations
The viewpoint-agnostic grasp pipeline using VLM and partial observation handling achieves 90% success (9/10 trials) in cluttered tabletop scenarios on a real quadruped robot, outperforming a view-dependent baseline at 30% (3/10) through open-vocabulary detection, point cloud completion, and safety-0