Train robotic agents to learn to plan pushing and grasping actions for manipulation with deep reinforcement learning.

Detect 6-DOF grasp poses in point clouds

Python module for GQ-CNN training and deployment with ROS integration.

MIT-Princeton Vision Toolbox for Robotic Pick-and-Place at the Amazon Robotics Challenge 2017 - Robotic Grasping and One-shot Recognition of Novel Objects with Deep Learning.

Generative Grasping CNN from "Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach" (RSS 2018)

Detecting robot grasping positions with deep neural networks. The model is trained on Cornell Grasping Dataset. This is an implementation mainly based on the paper 'Real-Time Grasp Detection Using Convolutional Neural Networks' from Redmon and Angelova.

An implementation of our RA-L work 'Real-world Multi-object, Multi-grasp Detection'

The GraspIt! simulator

Multi-Viewpoint Picking (ICRA 2019)

Generate grasp pose candidates in point clouds

ROS Packages for PROBOT Anno.

A ROS package to detect grasp poses in point clouds.

Integrating learning and task planning for robots with Keras, including simulation, real robot, and multiple dataset support.

This project implements a simulated grasp-and-lift process in V-REP using the Barrett Hand, with an interface through a python remote API.

Robotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data. This dataset is annotated using the same protocal as Cornell Dataset, and can be used as multi-object extension of Cornell Dataset.

GRAB: A Dataset of Whole-Body Human Grasping of Objects (ECCV 2020)

Grasping in GAZEBO robotics simulator.

[cvpr19] Code to generate images from the ObMan dataset, synthetic renderings of hands holding objects (or hands in isolation)

“Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer

Robot Learning of Shifting Objects for Grasping in Cluttered Environments

Antipodal Robotic Grasping using GR-ConvNet. IROS 2020.

Reinforcement Learning Experiments using PyBullet

A GraspIt! plugin exposing a ROS interface via graspit-ros

GrabNet: A Generative model to generate realistic 3D hands grasping unseen objects

API for large scale benchmark of robotic grasping: GraspNet-1Billion: https://graspnet.net

Code for CVPR 2019 paper "ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging"

ROS components for grasping

ROS package to localize handles in 3D point clouds

[ICRA 2020] Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands

A public sandbox for simulating grasping in Gazebo with the iCub humanoid