The work defines task-oriented grasp metrics from basic ones and trains vision models to infer them in both known-model simulation and partial-information range-image settings.
To afford or not to afford: A new formalization of affordances toward affordance- based robot control
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Towards Affordance Prediction with Vision via Task Oriented Grasp Quality Metrics
The work defines task-oriented grasp metrics from basic ones and trains vision models to infer them in both known-model simulation and partial-information range-image settings.