Deep Differentiable Grasp Planner for High-DOF Grippers

4 Feb 2020Min LiuZherong PanKai XuKanishka GangulyDinesh Manocha

We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-backward automatic differentiation approach, including the forward kinematics of the gripper, the collision between the gripper and the target object, and the metric of grasp poses... (read more)

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