GraspLDM: Generative 6-DoF Grasp Synthesis Using Latent Diffusion Models

GraspLDM: Generative 6-DoF Grasp Synthesis Using Latent Diffusion Models

Vision-based grasping of unknown objects in unstructured environments is a key challenge for autonomous robotic manipulation. A practical grasp synthesis system is required to generate a diverse set of 6-DoF grasps from which a task-relevant grasp can be executed. Although generative models are suit...

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Bibliographic Details
Main Authors: Kuldeep R. Barad, Andrej Orsula, Antoine Richard, Jan Dentler, Miguel A. Olivares-Mendez, Carol Martinez
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Generative modeling
robotic grasping
grasp synthesis
diffusion models
Online Access:https://ieeexplore.ieee.org/document/10744565/
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https://ieeexplore.ieee.org/document/10744565/

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