notesum.ai

Published at December 3

UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping

cs.RO

Released Date: December 3, 2024

Authors: Wenbo Wang¹, Fangyun Wei¹, Lei Zhou², Xi Chen¹, Lin Luo¹, Xiaohan Yi¹, Yizhong Zhang¹, Yaobo Liang¹, Chang Xu³, Yan Lu¹, Jiaolong Yang¹, Baining Guo¹

Aff.: ¹Microsoft Research Asia; ²National University of Singapore; ³University of Sydney

Arxiv: http://arxiv.org/pdf/2412.02699v1

Method	State-Based Setting (%)			Vision-Based Setting (%)
	Seen Obj.	Unseen Obj.	Unseen Obj.	Seen Obj.	Unseen Obj.	Unseen Obj.
	Seen Obj.	Seen Cat.	Unseen Cat.	Seen Obj.	Seen Cat.	Unseen Cat.
PPO^† [44]	24.3	20.9	17.2	20.6	17.2	15.0
DAPG^† [40]	20.8	15.3	11.1	17.9	15.2	13.9
ILAD^† [57]	31.9	26.4	23.1	27.6	23.2	20.0
GSL^† [15]	57.3	54.1	50.9	54.1	50.2	44.8
UniDexGrasp [58]	79.4	74.3	70.8	73.7	68.6	65.1
UniDexGrasp++ [51]	87.9	84.3	83.1	85.4	79.6	76.7
Ours	91.2	89.2	88.3	88.9	87.3	86.8