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In this paper we address the problem of grasp generation and grasp transfer between objects using categorical knowledge. The system is built upon an i) active scene segmentation module, able of generating object hypotheses and segmenting them from the background in real time, ii) object categorization system using integration of 2D and 3D cues, and iii) probabilistic grasp reasoning system. Individual object hypotheses are first generated, categorized and then used as the input to a graspdoi:10.1109/icra.2012.6225052 dblp:conf/icra/MadrySK12 fatcat:mzdfu3lz6nb7vfuov26zgdjfi4