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 | Blog post | Code | Video | Dataset)
Repositories
QDG: generating reach-and-grasp trajectories
QDG-6DoF: generating 6DoF grasp poses [recommended]
Datasets
QDGset: an extensive synthetic dataset with 62M+ parallel-jaw grasps.
Sponsors
