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Document type:
Preprint
Author(s):
Qian Feng, Jianxiang Feng, Zhaopeng Chen, Rudolph Triebel, Alois Knoll
Title:
FFHFlow: A Flow-based Variational Approach for Multi-fingered Grasp Synthesis in Real Time
Abstract:
Synthesizing diverse and accurate grasps with multi-fingered hands is an important yet challenging task in robotics. Previous efforts focusing on generative modeling have fallen short of precisely capturing the multi-modal, high-dimensional grasp distribution. To address this, we propose exploiting a special kind of Deep Generative Model (DGM) based on Normalizing Flows (NFs), an expressive model for learning complex probability distributions. Specifically, we first observed an encouraging impro...     »
Journal title:
arXiv
Year:
2024
Fulltext / DOI:
doi: https://doi.org/10.48550/arXiv.2407.15161
WWW:
https://arxiv.org/abs/2407.15161
Submitted:
21.07.2024
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