AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy
Zhenjia Xu Beichun Qi Shubham Agrawal Shuran Song Zhenjia Xu Beichun Qi Shubham Agrawal Shuran Song
This paper aims to improve robots’ versatility and adaptability by allowing them to use a large variety of end- effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes to novel grippers. By training on a large collection of grippers, our algorithm is able to acquire generalizable knowledge of how different grippers should be u...