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Published at December 3

SparseGrasp: Robotic Grasping via 3D Semantic Gaussian Splatting from Sparse Multi-View RGB Images

cs.RO

cs.CV

cs.LG

Released Date: December 3, 2024

Authors: Junqiu Yu¹, Xinlin Ren¹, Yongchong Gu¹, Haitao Lin¹, Tianyu Wang¹, Yi Zhu², Hang Xu², Yu-Gang Jiang¹, Xiangyang Xue¹, Yanwei Fu¹

Aff.: ¹Fudan University; ²Huawei Technology

Arxiv: http://arxiv.org/pdf/2412.02140v1

[Uncaptioned image]

	Flower	Whisk	Dragon	Car	Kettle’s Lip	Panda	ScrewDriver	Total
F3RM(3 Views)	1/10	0/10	1/10	1/10	0/10	0/10	1/10	4/70
LERF-TOGO(3 Views)	0/10	1/10	0/10	1/10	1/10	1/10	1/10	5/70
F3RM(17 Views)	6/10	1/10	5/10	7/10	7/10	5/10	7/10	38/70
LERF-TOGO(17 Views)	6/10	3/10	4/10	5/10	5/10	3/10	7/10	33/70
Ours(3 Views)	8/10	8/10	9/10	8/10	7/10	8/10	7/10	55/70