SemGrasp: Semantic Grasp Generation via Language Aligned Discretization

OakBase: Object Affordance Knowledge (Oak) base, including objects' part-level segmentation and attributes.
OakInk-Image: a video dataset with 3D hand-object pose and shape annotations.
OakInk-Shape: a 3D grasping pose dataset with hand and object mesh models.

Kailin Li^1,2, Jingbo Wang², Lixin Yang¹, Cewu Lu^1✉ Bo Dai²

¹Shanghai Jiao Tong University, ²Shanghai AI Laboratory

✉ Corresponding author

arXiv Code(Coming Soon)

Dataset

Update

Jul,15,2024: CapGrasp dataset v0.1 released.
Apr,04,2024: Paper released.

BibTeX


@article{li2024semgrasp,
  title={SemGrasp: Semantic Grasp Generation via Language Aligned Discretization}, 
  author={Li, Kailin and Wang, Jingbo and Yang, Lixin and Lu, Cewu and Dai, Bo},
  year={2024},
  journal={arXiv preprint arXiv:2404.03590}
}