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Haofan Wu, Theodoros N. Arvanitis and Le Zhang are with the School of Engineering, College of Engineering and Physical Sciences, University of Birmingham, Birmingham, United Kingdom. Le Zhang is also with William Harvey Research Institute, NIHR Barts Biomedical Research Centre, Queen Mary University London, London, United Kingdom.Nay Aung, Steffen E. Petersen are with William Harvey Research Institute, NIHR Barts Biomedical Research Centre, Queen Mary University London, London, United Kingdom, and Barts Heart Centre, St Bartholomew鈥檚 Hospital, Barts Health NHS Trust, West Smithfield, London, United Kingdom.Joao A. C. Lima is with Division of Cardiology, Johns Hopkins University School of Medicine, Baltimore, Maryland, United States.Corresponding Author: Le Zhang (l.zhang.16@bham.ac.uk)
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Training on a new multi-object dataset with explicit modeling of grasp offsets and pre-grasp configurations enables an end-to-end network to achieve significantly improved dexterous grasping performance in simulation and on a real robot.
