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simmediumgraspingmetric · varies
TD-TOG Dataset: Benchmarking Zero-Shot and One-Shot Task-Oriented Grasping for Object Generalization
Description
Task-oriented grasping (TOG) is an essential preliminary step for robotic task execution, which involves predicting grasps on regions of target objects that facilitate intended tasks. Existing literature reveals there is a limited availability of TOG datasets for training and benchmarking despite large demand, which are often synthetic or have artifacts in mask annotations that hinder model performance. Moreover, TOG solutions often require affordance masks, grasps, and object masks for training