AdapGrasp strategy includes a dataset named AdapGraspDataset and a corresponding model named AdapGraspNet, considering object stiffness and grasp affordance, ensuring the intactness of fragile objects and the stability of grasping.
Comparative Demonstration of Final Grasp Width(FGW)
Comparative Demonstration of Grasp Affordance Weight(GAW)
Demonstration of Multi-Object Grasping
Demonstration of Grasping Various Objects
Final grasp width (FGW) and grasp affordance weight (GAW) are introduced to the dataset, considering the object's stiffness and grasp affordance
To predict FGW and GAW more accurately, a denoise principle is introduced to the transformer-based model, which can output a set of initial and final grasp configurations.
For the full implementation, visit our GitHub repository.