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<script src="http://www.google.com/jsapi" type="text/javascript"></script>
<script type="text/javascript">google.load("jquery", "1.3.2");</script>
<link href="https://fonts.googleapis.com/css2?family=Open+Sans&display=swap"
rel="stylesheet">
<link rel="stylesheet" type="text/css" href="./resources/style.css" media="screen"/>
<html lang="en">
<head>
<title>SpringGrasp: Synthesizing Compliant Dexterous Grasps under Shape Uncertainty</title>
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if you update and want to force Facebook to re-scrape. -->
<meta property="og:image" content="./resources/teaser.png"/>
<meta property="og:title" content="SpringGrasp: Synthesizing Compliant Dexterous Grasps under Shape Uncertainty" />
<meta property="og:description" content="Paper description." />
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<body>
<div class="container">
<div class="title">
SpringGrasp: Synthesizing Compliant Dexterous Grasps under Shape Uncertainty
</div>
<br>
<br>
<div class="author">
<a href="https://ericcsr.github.io/">Sirui Chen</a><sup>1</sup>
</div>
<div class="author">
<a href="https://web.stanford.edu/~bohg/">Jeannette Bohg</a><sup>1</sup>
</div>
<div class="author">
<a href="https://tml.stanford.edu/people/karen-liu">C. Karen Liu</a><sup>1</sup>
</div>
<br>
<br>
<div class="affiliation"><sup>1 </sup>Stanford University</div>
<br>
<br>
<div class="links"><a href="https://arxiv.org/abs/2404.13532">[Paper]</a></div>
<div class="links"><a href="https://github.com/Stanford-TML/SpringGrasp_release.git">[Code]</a></div>
<br>
<br>
<div class="teaser">
<img src="./resources/main.png" alt="Teaser figure."/>
<br>
<i>
Planning grasp for different object with single depth image input.
</i>
</div>
<br><br>
<hr>
<h1>Abstract</h1>
<p>
Generating stable and robust grasps on generic objects is critical for dexterous robotic hands, marking a significant step towards advanced dexterous manipulation. Previous studies have mostly focused on improving differentiable grasping metrics with the assumption of precisely known object geometry. However, shape uncertainty is ubiquitous due to noisy and partial shape observations, which introduce challenges in grasp planning. We propose, SpringGrasp planner, a planner that considers uncertain observations of the object surface for synthesizing compliant dexterous grasps.A compliant dexterous grasp could minimize the effect of unexpected contact with the object, leading to more stable grasp with shape-uncertain objects. We introduce an analytical and differentiable metric, SpringGrasp metric, that evaluates the dynamic behavior of the entire compliant grasping process. Planning with SpringGrasp planner, our method achieves a grasp success rate of 89% from two viewpoints and 84% from a single viewpoints in experiment with a real robot on 14 common objects. Compared with a force-closure based planner, our method achieves at least 18% higher grasp success rate.
</p>
<br><br><hr>
<h1>Method</h1>
<div class="video-container">
<iframe src="./resources/method.mp4" frameBorder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture"
allowfullscreen></iframe>
</div>
<br><br><hr>
<h1>Grasping different objects</h1>
<div class="video-container">
<iframe src="./resources/allobjects.mp4" frameBorder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture"
allowfullscreen></iframe>
</div>
<br><br><hr>
<h1>Grasping object at different pose</h1>
<div class="video-container">
<iframe src="./resources/differentpose.mp4" frameBorder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture"
allowfullscreen></iframe>
</div>
<br><br><hr>
<h1>Compliant grasp resist perturbation</h1>
<div class="video-container">
<iframe src="./resources/perturb.mp4" frameBorder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture"
allowfullscreen></iframe>
</div>
<br><br><hr>
<h1>Compared with force closure baseline</h1>
<div class="video-container">
<iframe src="./resources/compare.mp4" frameBorder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture"
allowfullscreen></iframe>
</div>
<br><br><hr>
<h1>Citation</h1>
<div class="paper-info">
<pre><code>@misc{chen2024springgrasp,
title={SpringGrasp: An optimization pipeline for robust and compliant dexterous pre-grasp synthesis},
author={Sirui Chen and Jeannette Bohg and C. Karen Liu},
year={2024},
eprint={2404.13532},
archivePrefix={arXiv},
primaryClass={cs.RO}
}</code></pre>
</div>
<br><br><hr><br>
<h1>Acknowledgements</h1>
<p>
This template was originally made by <a href="http://web.mit.edu/phillipi/">Phillip Isola</a>
and <a href="http://richzhang.github.io/">Richard Zhang</a> for a
<a href="http://richzhang.github.io/colorization/">colorful</a> ECCV project. It was
adapted to be mobile responsive by <a href="https://jasonyzhang.com/">Jason Zhang</a>
for <a href="https://jasonyzhang.com/phosa/">PHOSA</a>. The code can be found
<a href="https://github.com/jasonyzhang/webpage-template">here</a>.
</p>
<br><br>
</div>
</body>
</html>