QD-Grasp
Leveraging Quality-Diversity algorithms for Learning to Grasp in Robotics





Publications

Quality Diversity under Sparse Reward and Sparse Interaction: Application to Grasping in Robotics, Huber, J., Hélénon, F., Coninx, M., Ben Amar, F., Doncieux, S. (2023) (Paper | Blog post | Code)


Domain Randomization for Sim2real Transfer of Automatically Generated Grasping Datasets, Huber, J., Hélénon, F., Watrelot, H., Ben Amar, F., Doncieux, S. (2024), ICRA 2024 (Paper | Blog post | Code | Video)


Toward a Plug-and-Play Vision based Graspng Module in Robotics, Hélénon, F., Huber, J., Ben Amar, F., Doncieux, S. (2024) (Paper | Blog post | Video)


Speeding up 6-DoF Grasp Sampling with Quality-Diversity, Huber, J., Hélénon, F., Kappel, M., Chelly, E., Khoramshahi, M., Ben Amar, F., Doncieux, S. (2024) (Paper | Blog post | Code | Video)


QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity, Huber, J., Hélénon, F., Kappel, Páez-Ubieta, I. L., Puente, S. T., Gil, P., Ben Amar, F., Doncieux, S. (2024) (Paper | Appendices | Blog post | Code | Video | Dataset)

The paper has just been submitted. More details are comming in the following days!




Repositories

  QDG: generating reach-and-grasp trajectories
  QDG-6DoF: generating 6DoF grasp poses [recommended]




Datasets

QDGset: The paper has just been submitted. The dataset will be available in the following days!




Sponsors