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.
Learning ambidextrous robot grasping policies,
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Contact-free grasp stability prediction using in-hand multi-zone time-of-flight sensors achieves 86% accuracy on unseen objects.
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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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Contact-Free Grasp Stability Prediction with In-Hand Time-of-Flight Sensors
Contact-free grasp stability prediction using in-hand multi-zone time-of-flight sensors achieves 86% accuracy on unseen objects.