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Deep Learning Approaches to Grasp Synthesis: A Review


Jul 06, 2022
Rhys Newbury, Morris Gu, Lachlan Chumbley, Arsalan Mousavian, Clemens Eppner, Jürgen Leitner, Jeannette Bohg, Antonio Morales, Tamim Asfour, Danica Kragic, Dieter Fox, Akansel Cosgun

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* 21 pages. Submitted to T-RO 

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DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects


Mar 21, 2022
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox

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* For associated web page, see \url{https://sites.google.com/nvidia.com/defgraspsim}. To be published in the IEEE Robotics and Automation Letters (RA-L) special issue on Robotic Handling of Deformable Objects, 2022. arXiv admin note: substantial text overlap with arXiv:2107.05778 

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DefGraspSim: Simulation-based grasping of 3D deformable objects


Jul 12, 2021
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox

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* 11 pages, 19 figures. For associated website and code repository, see https://sites.google.com/nvidia.com/defgraspsim and https://github.com/NVlabs/deformable_object_grasping. Published in DO-Sim: Workshop on Deformable Object Simulation in Robotics at Robotics: Science and Systems (RSS) 2021 

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Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments


Dec 29, 2020
Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, Dieter Fox

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Object Rearrangement Using Learned Implicit Collision Functions


Nov 21, 2020
Michael Danielczuk, Arsalan Mousavian, Clemens Eppner, Dieter Fox

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* Michael Danielczuk and Arsalan Mousavian contributed equally 

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ACRONYM: A Large-Scale Grasp Dataset Based on Simulation


Nov 18, 2020
Clemens Eppner, Arsalan Mousavian, Dieter Fox

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A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set


Dec 11, 2019
Clemens Eppner, Arsalan Mousavian, Dieter Fox

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* For associated web page, see https://sites.google.com/view/abillionwaystograsp . 19th International Symposium of Robotics Research (ISRR) 

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6-DOF Grasping for Target-driven Object Manipulation in Clutter


Dec 08, 2019
Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner, Chris Paxton, Dieter Fox

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Self-supervised 6D Object Pose Estimation for Robot Manipulation


Sep 23, 2019
Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl, Dieter Fox

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Representing Robot Task Plans as Robust Logical-Dynamical Systems


Aug 05, 2019
Chris Paxton, Nathan Ratliff, Clemens Eppner, Dieter Fox

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* 9 pages, extended version of IROS 2019 paper 

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