A Surprisingly Efficient Representation for Multi-Finger Grasping
<|reference_start|>A Surprisingly Efficient Representation for Multi-Finger Grasping: The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work, we propose a representation that can be effectively mapped to the multi-finger grasp space. Based on this representation, we develop a simple decision model that generates accurate grasp quality scores for different multi-finger grasp poses using only hundreds to thousands of training samples. We demonstrate that our representation performs well on a real robot and achieves a success rate of 78.64% after training with only 500 real-world grasp attempts and 87% with 4500 grasp attempts. Additionally, we achieve a success rate of 84.51% in a dynamic human-robot handover scenario using a multi-finger hand.<|reference_end|>
@article{yan2024a,
    title={A Surprisingly Efficient Representation for Multi-Finger Grasping},
    author={Hengxu Yan, Hao-Shu Fang, Cewu Lu},
    journal={arXiv preprint arXiv:2408.02455},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.02455},
    primaryClass={cs.RO}
}