Grasp Transfer based on Self-Aligning Implicit Representations of Local Surfaces

TL;DR

This paper introduces a novel method for transferring grasp demonstrations to new objects by using implicit local surface representations, enabling effective grasp transfer across object categories in simulation and real-world settings.

Contribution

It presents a shape-agnostic grasp transfer approach using implicit local surface models learned from a single demonstration, trained solely in simulation.

Findings

Successful grasp transfer to unseen objects in simulation and real-world

Improved spatial precision and grasp accuracy over baseline methods

Effective across multiple object categories without prior shape parametrization

Abstract

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a demonstration to a novel object that shares shape similarities with objects the robot has previously encountered. Existing approaches for solving this problem are typically restricted to a specific object category or a parametric shape. Our approach, however, can transfer grasps associated with implicit models of local surfaces shared across object categories. Specifically, we employ a single expert grasp demonstration to learn an implicit local surface representation model from a small dataset of object meshes. At inference time, this model is used to transfer grasps to novel objects by identifying the most geometrically similar surfaces to the one on which the expert grasp is demonstrated. Our model is trained entirely in simulation and is evaluated on simulated and real-world objects that are not seen during training. Evaluations indicate that grasp transfer to unseen object categories using this approach can be successfully performed both in simulation and real-world experiments. The simulation results also show that the proposed approach leads to better spatial precision and grasp accuracy compared to a baseline approach.