AI Agent Skills

[ICRA 2024]ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera

Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home

Robotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data. This dataset is annotated using the same protocal as Cornell Dataset, and can be used as m…

Use for YAM object detection, grasp candidate generation, side/top-down/rim pickup choices, staged gripper close, contact evidence, lift-only checks, and pickup failures.

Direct IK align-then-descend grasping. The gripper pre-rotates to

Detect 6-DOF grasp poses in point clouds

Generative Grasping CNN from "Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach" (RSS 2018)

Large dataset of hand-object contact, hand- and object-pose, and 2.9 M RGB-D grasp images.

An Optimization-based Motion and Grasp Planner

Generate grasp pose candidates in point clouds

A MuJoCo/Gym environment for robot control using Reinforcement Learning. The task of agents in this environment is pixel-wise prediction of grasp success chances.

Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts.