Cover Image

6-DoF Grasp Pose Evaluation and Optimization via Transfer Learning from NeRFs

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Sóti, Gergely, Huang, Xi, Wurll, Christian, Hein, Björn
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes
by: Sóti, Gergely, et al.
Published: (2024)

Planning with Learned Subgoals Selected by Temporal Information
by: Huang, Xi, et al.
Published: (2024)

Blending Distributed NeRFs with Tri-stage Robust Pose Optimization
by: Ye, Baijun, et al.
Published: (2024)

Residual-NeRF: Learning Residual NeRFs for Transparent Object Manipulation
by: Duisterhof, Bardienus P., et al.
Published: (2024)

Supermarket-6DoF: A Real-World Grasping Dataset and Grasp Pose Representation Analysis
by: Toskov, Jason, et al.
Published: (2025)

Task-Oriented 6-DoF Grasp Pose Detection in Clutters
by: Wang, An-Lan, et al.
Published: (2025)

NeRFs in Robotics: A Survey
by: Wang, Guangming, et al.
Published: (2024)

SpikeGrasp: A Benchmark for 6-DoF Grasp Pose Detection from Stereo Spike Streams
by: Gao, Zhuoheng, et al.
Published: (2025)

HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps
by: Huang, Xi, et al.
Published: (2024)

Constrained Generative Sampling of 6-DoF Grasps
by: Lundell, Jens, et al.
Published: (2023)

Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives
by: Berscheid, Lars, et al.
Published: (2021)

Triplane Grasping: Efficient 6-DoF Grasping with Single RGB Images
by: Li, Yiming, et al.
Published: (2024)

PixTrack: Precise 6DoF Object Pose Tracking using NeRF Templates and Feature-metric Alignment
by: Chidananda, Prajwal, et al.
Published: (2022)

Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping
by: Chen, Siang, et al.
Published: (2024)

Closing the Visual Sim-to-Real Gap with Object-Composable NeRFs
by: Mishra, Nikhil, et al.
Published: (2024)

Data Augmentation for NeRFs in the Low Data Limit
by: Gaggar, Ayush, et al.
Published: (2025)

Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge
by: Ma, Haoxiang, et al.
Published: (2024)

An Economic Framework for 6-DoF Grasp Detection
by: Wu, Xiao-Ming, et al.
Published: (2024)

GraspLDM: Generative 6-DoF Grasp Synthesis using Latent Diffusion Models
by: Barad, Kuldeep R, et al.
Published: (2023)

Di-NeRF: Distributed NeRF for Collaborative Learning with Relative Pose Refinement
by: Asadi, Mahboubeh, et al.
Published: (2024)

Tube-NeRF: Efficient Imitation Learning of Visuomotor Policies from MPC using Tube-Guided Data Augmentation and NeRFs
by: Tagliabue, Andrea, et al.
Published: (2023)

Speeding up 6-DoF Grasp Sampling with Quality-Diversity
by: Huber, Johann, et al.
Published: (2024)

Human Emergency Detection during Autonomous Hospital Transports
by: Zachariae, Andreas, et al.
Published: (2023)

MG-Grasp: Metric-Scale Geometric 6-DoF Grasping Framework with Sparse RGB Observations
by: Wang, Kangxu, et al.
Published: (2026)

PCF-Grasp: Converting Point Completion to Geometry Feature to Enhance 6-DoF Grasp
by: Cheng, Yaofeng, et al.
Published: (2025)

Efficient End-to-End Detection of 6-DoF Grasps for Robotic Bin Picking
by: Liu, Yushi, et al.
Published: (2024)

IFFNeRF: Initialisation Free and Fast 6DoF pose estimation from a single image and a NeRF model
by: Bortolon, Matteo, et al.
Published: (2024)

23 DoF Grasping Policies from a Raw Point Cloud
by: Matak, Martin, et al.
Published: (2024)

Are NeRFs ready for autonomous driving? Towards closing the real-to-simulation gap
by: Lindström, Carl, et al.
Published: (2024)

Language-Driven 6-DoF Grasp Detection Using Negative Prompt Guidance
by: Nguyen, Toan, et al.
Published: (2024)

6-DoF Grasp Detection in Clutter with Enhanced Receptive Field and Graspable Balance Sampling
by: Wang, Hanwen, et al.
Published: (2024)

6-DoF Grasp Planning using Fast 3D Reconstruction and Grasp Quality CNN
by: Avigal, Yahav, et al.
Published: (2020)

CenterGrasp: Object-Aware Implicit Representation Learning for Simultaneous Shape Reconstruction and 6-DoF Grasp Estimation
by: Chisari, Eugenio, et al.
Published: (2023)

How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey
by: Tosi, Fabio, et al.
Published: (2024)

GraspCoT: Integrating Physical Property Reasoning for 6-DoF Grasping under Flexible Language Instructions
by: Chu, Xiaomeng, et al.
Published: (2025)

Self-supervised 6-DoF Robot Grasping by Demonstration via Augmented Reality Teleoperation System
by: Dengxiong, Xiwen, et al.
Published: (2024)

Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Grasping
by: Burgess, Michael, et al.
Published: (2025)

Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering
by: Jauhri, Snehal, et al.
Published: (2023)

Keypoint-based Dynamic Object 6-DoF Pose Tracking via Event Camera
by: Wang, Zhe, et al.
Published: (2026)

NeRF-Based Transparent Object Grasping Enhanced by Shape Priors
by: Han, Yi, et al.
Published: (2025)