A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
Despite the enormous progress and generalization in robotic grasping in recent years, existing methods have yet to scale and generalize task-oriented grasping to the same extent. This is largely due to the scale of the datasets both in terms of the number of objects and tasks studied. We address these concerns with the TaskGrasp dataset which is more diverse both in terms of objects and tasks, and an order of magnitude larger than previous datasets. The dataset contains 250K task-orientedarXiv:2011.06431v2 fatcat:52zg6zdzxrapjbxod5j6tlfkbm