Corpus ID: 237571540

CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation

  title={CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation},
  author={Bowen Wen and Wenzhao Lian and Kostas E. Bekris and Stefan Schaal},
Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is challenging, since task-relevant grasp labels are hard to define and annotate. There is also yet no consensus on proper representations for modeling or off-the-shelf tools for performing task-relevant grasps. This work proposes a framework to learn task-relevant grasping for industrial objects without the need of time… Expand

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