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- W4286563548 abstract "Grasp pose estimation is an important issue for robots to interact with the real world. However, most of existing methods require exact 3D object models available beforehand or a large amount of grasp annotations for training. To avoid these problems, we propose TransGrasp, a category-level grasp pose estimation method that predicts grasp poses of a category of objects by labeling only one object instance. Specifically, we perform grasp pose transfer across a category of objects based on their shape correspondences and propose a grasp pose refinement module to further fine-tune grasp pose of grippers so as to ensure successful grasps. Experiments demonstrate the effectiveness of our method on achieving high-quality grasps with the transferred grasp poses. Our code is available at https://github.com/yanjh97/TransGrasp." @default.
- W4286563548 created "2022-07-22" @default.
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- W4286563548 date "2022-07-16" @default.
- W4286563548 modified "2023-09-26" @default.
- W4286563548 title "TransGrasp: Grasp Pose Estimation of a Category of Objects by Transferring Grasps from Only One Labeled Instance" @default.
- W4286563548 doi "https://doi.org/10.48550/arxiv.2207.07861" @default.
- W4286563548 hasPublicationYear "2022" @default.
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