Planning trajectories to many grasp targets before evaluating them, and scoring the resulting terminal grasps, improves multi-finger grasping success over the standard generate-evaluate-plan order.
Dexterous manipulation for multi-fingered robotic hands with reinforcement learning: A review,
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First Plan Then Evaluate: Multi-Target Planning with Post-Planning Success Evaluation Improves Learning-Based Grasping Pipelines
Planning trajectories to many grasp targets before evaluating them, and scoring the resulting terminal grasps, improves multi-finger grasping success over the standard generate-evaluate-plan order.