Conditional StyleGAN for Grasp Generation
Florian Patzelt Robert Haschke Helge Ritter Florian Patzelt Robert Haschke Helge Ritter
We present an approach based on conditional generative adversarial networks (GANs) to generate grasps directly and in a feed-forward manner from a raw depth image input. Building on the recently introduced StyleGAN architecture we extend results from an earlier proof-of-concept paper [1] and demonstrate successful sim2real transfer of grasp outputs for a robot arm with a Shadow Dexterous Hand. We ...