Benutzer: Gast  Login
Dokumenttyp:
Preprint
Art des Preprints:
Konferenzbeitrag
Autor(en):
Qian Feng, David S Martinez Lema, Mohammadhossein Malmir, Hang Li, Jianxiang Feng, Zhaopeng Chen, Alois Knoll
Titel:
DexGANGrasp: Dexterous Generative Adversarial Grasping Synthesis for Task-Oriented Manipulation
Abstract:
We introduce DexGanGrasp, a dexterous grasping synthesis method that generates and evaluates grasps with single view in real time. DexGanGrasp comprises a Conditional Generative Adversarial Networks (cGANs)-based DexGenerator to generate dexterous grasps and a discriminator-like DexEvalautor to assess the stability of these grasps. Extensive simulation and real-world expriments showcases the effectiveness of our proposed method, outperforming the baseline FFHNet with an 18.57% higher success rat...     »
Kongresstitel:
2024 IEEE-RAS International Conference on Humanoid Robots
Zeitschriftentitel:
2024 IEEE-RAS International Conference on Humanoid Robots
Jahr:
2024
Volltext / DOI:
doi: https://doi.org/10.48550/arXiv.2407.17348
WWW:
https://arxiv.org/pdf/2407.17348
Eingereicht (bei Zeitschrift):
24.07.2024
 BibTeX