Reproduce “Grasp-Taxonomy Conditioning as a Mode Switch for Dexterous Grasping of Climbing Holds” on OpenResearch
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About this paper
Rumi Loghmani, Abraham George, Amir Barati Farimani
BetaGrasp conditions a diffusion policy on point-cloud and robot-state inputs and an operator-supplied grasp-type label for climbing holds. In simulated rollouts, it selected the assigned grasp type in 94% of cases, versus 25% without the label. Across 80 paired hardware trials, average slip force was 14.3 N versus 9.6 N; tests used one robot setup and single-axis pulls.
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