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An automated kinematic failure taxonomy separates spatial-precision (Near-Miss) failures from object-tracking (No-Grasp) failures: spatial grounding reduces Near-Miss while leaving No- Grasp unchanged.
CoToGrasp is a novel generative framework that synthesizes diverse, stable grasps strictly conditioned on specific contact topologies, and introduces a feature-based canonical workspace that projects local object features into a unified gripper-centric domain, effectively decoupling the semantic functional intent from...
Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to generalize to new objects because they are trained on limited, object-specific datasets. We introduce a fundamentally different approach, grounded in the observation that the gripper and the object share identi...
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