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Humans grasp objects with a purpose! Web2Grasp enables such functional grasping for dexterous robot hands via hand-object reconstruction from web images - without any robot teleop data collection 1/n

Homanga Bharadhwaj @ CVPR

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28,408 次观看 • 1 年前 •via X (Twitter)

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Homanga @ CVPR 的头像

Homanga @ CVPR1 年前

To train a functional grasp prediction policy: -> we create a dataset of robot-object grasps by re-targeting human hand-object interactions from web images followed by object mesh refinement with a text-to-3D model -> perform imitation learning on the resulting dataset! 2/n

Homanga @ CVPR 的头像

Homanga @ CVPR1 年前

Web2Grasp was led by amazing @CMU_Robotics collaborators @chen_hongyi_ and @YaoYunchao Check out Hongyi's thread below and the website for more details n/n

AirFranz 的头像

AirFranz1 年前

Hey Homanga! Great work. Just DM’ed you. Franz

Craig ⚔️ 的头像

Craig ⚔️1 年前

Is this 1994 tech?

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