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About this paper
Varun Burde, Pavel Burget, Torsten Sattler
The authors evaluate how pose estimates and reconstructed object geometry affect robotic grasping by planning grasps from models and testing them in simulation on objects at their ground-truth poses. Most reconstructed meshes provide fewer viable grasp candidates. For FoundationPose, final grasp success was not significantly reduced when enough candidates remained; this finding is limited to the tested simulation.
Summary by alphaXiv.
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