Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation

Turpin, D; Zhong, T; Zhang, ST; Zhu, GL; Heiden, E; Macklin, M; Tsogkas, S; Dickinson, S; Garg, A

Turpin, D; Garg, A (通讯作者)，Univ Toronto, Toronto, ON, Canada.;Turpin, D; Garg, A (通讯作者)，Vector Inst, Toronto, ON, Canada.;Turpin, D; Garg, A (通讯作者)，Nvidia, Toronto, ON, Canada.

2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023), 2023; (): 8082

Abstract

Multi-finger grasping relies on high quality training data, which is hard to obtain: human data is hard to transfer and synthetic data relies on simpl......

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