Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Generating Task-specific Robotic Grasps   This paper describes a method for generating robot grasps by jointly
considering stability and other task and object-specific constraints. We
introduce a three-level representation that is acquired for each object class
from a small number of exemplars of objects, tasks, and relevant grasps. The
representation encodes task-specific knowledge for each object class as a
relationship between a keypoint skeleton and suitable grasp points that is
preserved despite intra-class variations in scale and orientation. The learned
models are queried at run time by a simple sampling-based method to guide the
generation of grasps that balance task and stability constraints. We ground and
evaluate our method in the context of a Franka Emika Panda robot assisting a
human in picking tabletop objects for which the robot does not have prior CAD
models. Experimental results demonstrate that in comparison with a baseline
method that only focuses on stability, our method is able to provide suitable
grasps for different tasks.

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The categories of this paper are: comp-gas
24
The categories of this paper are: dg-ga
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The categories of this paper are: chem-ph
16
The categories of this paper are: stat
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The categories of this paper are: atom-ph
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The categories of this paper are: chao-dyn
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The categories of this paper are: funct-an
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The categories of this paper are: ao-sci
37
The categories of this paper are: supr-con
15
The categories of this paper are: nucl-ex
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The categories of this paper are: bayes-an
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The categories of this paper are: nucl-th
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The categories of this paper are: econ
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The categories of this paper are: patt-sol
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The categories of this paper are: q-alg
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The categories of this paper are: mtrl-th