Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping

Adithyavairavan Murali, Weiyu Liu, Kenneth Marino, Sonia Chernova, Abhinav Gupta

Abstract: Despite the enormous progress and generalization in robotic grasping in recent years, existing methods have yet to scale and generalize task-oriented grasping to the same extent. This is largely du...