multigrasp.github.io - MultiGrasp

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Description: Grasping multiple objects simultaneously in one robotic hand.

robotics (2015) dexterous grasping (2) multi-object grasping (1)

Example domain paragraphs

The human hand's complex kinematics allow for simultaneous grasping and manipulation of multiple objects, essential for tasks like object transfer and in-hand manipulation. Despite its importance, robotic multi-object grasping remains underexplored and presents challenges in kinematics, dynamics, and object configurations. This paper introduces MultiGrasp, a two-stage method for multi-object grasping on a tabletop with a multi-finger dexterous hand. It involves (i) generating pre-grasp proposals and (ii) ex

We generate a pre-grasp pose with either the augmented Differentiable Force Closure (DFC) (A) or a diffusion model (B), then execute the grasp with a planned reaching trajectory (C) and learned lifting policy (D). We further distill the policy to a vision-based student for real-world scenarios (E).

MultiGrasp released a large-scale dataset of multi-object grasping with a Shadow Hand that includes approximately 90k grasps for 8 different objects (73.7k double-object grasps, and 16.4k single-object grasps).

Links to multigrasp.github.io (4)

• tengyu.ai Tengyu Liu
• gengyiran.github.io Yiran Geng | 耿逸然
• yuyangli.com Yuyang Li
• thusiyuan.github.io Siyuan Huang - Research Scientist, BIGAI