While significant progress has been made on the problem of generating grasps, many existing learning-based approaches still concentrate on a single embodiment, provide limited generalization to higher DoF end-effectors and cannot capture a diverse set of grasp modes. In this paper, we tackle the problem of grasping multi-embodiments through the viewpoint of learning rich geometric representations for both objects and end-effectors using Graph Neural Networks (GNN). Our novel method - GeoMatch - applies supervised learning on grasping data from multiple embodiments, learning end-to-end contact point likelihood maps as well as conditional autoregressive prediction of grasps keypoint-by-keypoint. We compare our method against 3 baselines that provide multi-embodiment support. Our approach performs better across 3 end-effectors, while also providing competitive diversity of grasps. Examples can be found at geomatch.github.io.

This is source code for the paper: Geometry Matching for Multi-Embodiment Grasping.

To get started, creating an Anaconda or virtual environment is recommended.

This repository was developed on pytorch 1.13 among other dependencies:

pip install torch==1.13.1 pytorch-kinematics matplotlib transforms3d numpy scipy plotly trimesh urdf_parser_py tqdm argparse

For this work, we used the data from GenDexGrasp: Generalizable Dexterous Grasping. Please follow instructions on this link to download.

To train our model, run:

python3 train.py --epochs=XXX --batch_size=YYY

To generate grasps for a given object and all end-effectors, run:

python3 generate_grasps_for_obj.py --saved_model_dir=<your_trained_model> --object_name=<selected_object>

Optionally, you can plot grasps as they're generated by passing in --plot_grasps to the command above.

To generate grasps for all objects of the eval set and all end-effectors, run:

python3 generate_grasps_for_all_objs.py --saved_model_dir=<your_trained_model>

If you liked and used our repository, please cite us:

@inproceedings{attarian2023geometry,
  title={Geometry Matching for Multi-Embodiment Grasping},
  author={Attarian, Maria and Asif, Muhammad Adil and Liu, Jingzhou and Hari, Ruthrash and Garg, Animesh and Gilitschenski, Igor and Tompson, Jonathan},
  booktitle={Proceedings of the 7th Conference on Robot Learning (CoRL)},
  year={2023}
}

Copyright 2023 DeepMind Technologies Limited

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