Human-like-Dexterous-Grasping

A collection of papers, codes and resources related to human-like dexterous multi-fingered grasping.

Papers

Survey

Dexterous Manipulation for Multi-Fingered Robotic Hands With Reinforcement Learning: A Review Frontiers in Neurorobotics 2022

Deep Learning

DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations arXiv 2022

CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation arXiv 2022 | website | code

Toward Human-Like Grasp : Dexterous Grasping via Semantic Representation of Object-Hand ICCV 2021

Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps ICRA 2021 | code

DDGC: Generative Deep Dexterous Grasping in Clutter IROS 2021 | code

Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations arXiv 2021 | website | code

Learning Task-Oriented Grasping from Human Activity Datasets RAL 2020 | video

Learning Grasp Affordance Reasoning through Semantic Relations RAL 2019 | video | website | code

Learning from humans how to grasp: A data-driven architecture for autonomous grasping with anthropomorphic soft hands RAL 2019

Affordance Detection for Task-Specific Grasping Using Deep Learning Humanoids 2017

Deep Renforcement Learning

Learning Dexterous Grasping with Object-Centric Visual Affordances ICRA 2021 | website

DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video CoRL 2021 | webisite

Natural object manipulation using anthropomorphic robotic hand through deep reinforcement learning and deep grasping probability network Applied Intelligence 2021

Learning Task-Oriented Dexterous Grasping from Human Knowledge ICRA 2021

Human Grasp Inspired

D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactions CVPR 2022 | website | code

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos ECCV 2022 | website | code

Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations arXiv 2022 | website | [code:coming soon]

Learning Generalizable Dexterous Manipulation from Human Grasp Affordance arXiv 2022 | website | [code:coming soon]

Towards Unconstrained Joint Hand-Object Reconstruction From RGB Videos arXiv 2022 | website | code

Hand-Object Contact Consistency Reasoning for Human Grasps Generation arXiv 2021 | website | code

CPF: Learning a Contact Potential Field to Model the Hand-Object Interaction ICCV 2021 | code

Grasping Field: Learning Implicit Representations for Human Grasps arXiv 2020 | code

Ganhand: Predicting human grasp affordances in multi-object scenes CVPR 2020 | website | code

Learning joint reconstruction of hands and manipulated objects arXiv 2019 | code

Other Method

Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning ArXiv 2022 | website | code

Object affordance as a guide for grasp-type recognition ArXiv 2021 | code

Grasp It like a Pro: Grasp of Unknown Objects with Robotic Hands based on Skilled Human Expertise RAL 2020

ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact IROS 2019 | video | website | code

Datasets

A Large-scale Knowledge Repository for Understanding Hand-Object Interaction CVPR 2022 | website | code

DexYCB: A Benchmark for Capturing Hand Grasping of Objects CVPR 2021 | website | code

ContactPose: A Dataset of Grasps with Object Contact and Hand Pose ECCV 2020 | website | code

GRAB: A Dataset of Whole-Body Human Grasping of Objects ECCV 2020 | website | code

YCB-Affordance Dataset

Researchers & Groups