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DexDiffuser: Generating Dexterous Grasps With Diffusion Models
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-9486-9238
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0009-0001-6333-9533
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-2965-2953
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-2296-6685
2024 (English)In: IEEE Robotics and Automation Letters, E-ISSN 2377-3766, Vol. 9, no 12, p. 11834-11840Article in journal (Refereed) Published
Abstract [en]

We introduce DexDiffuser, a novel dexterous grasping method that generates, evaluates, and refines grasps on partial object point clouds. DexDiffuser includes the conditional diffusion-based grasp sampler DexSampler and the dexterous grasp evaluator DexEvaluator. DexSampler generates high-quality grasps conditioned on object point clouds by iterative denoising of randomly sampled grasps. We also introduce two grasp refinement strategies: Evaluator-Guided Diffusion and Evaluator-based Sampling Refinement. The experiment results demonstrate that DexDiffuser consistently outperforms the state-of-the-art multi-finger grasp generation method FFHNet with an, on average, 9.12% and 19.44% higher grasp success rate in simulation and real robot experiments, respectively.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2024. Vol. 9, no 12, p. 11834-11840
Keywords [en]
Diffusion models, Grasping, Robots, Point cloud compression, Grippers, Diffusion processes, Shape, Noise reduction, Encoding, Hardware, robot learning
National Category
Robotics and automation
Identifiers
URN: urn:nbn:se:kth:diva-360078DOI: 10.1109/LRA.2024.3498776ISI: 001409548200007Scopus ID: 2-s2.0-85210159095OAI: oai:DiVA.org:kth-360078DiVA, id: diva2:1938085
Note

QC 20250217

Available from: 2025-02-17 Created: 2025-02-17 Last updated: 2025-02-17Bibliographically approved

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Weng, ZehangLu, HaofeiKragic, DanicaLundell, Jens

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