Yuming Du, Philippe Weinzaepfel, Vincent Lepetit, Romain Brégier |
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 23–27 October, 2022 |
arXiv |
Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping demonstration performed by a human. We propose a novel optimization-based approach for transferring human grasp demonstrations to any multi-fingered grippers, which produces robotic grasps that mimic the human hand orientation and the contact area with the object, while alleviating interpenetration. Extensive experiments with the Allegro and BarrettHand grippers show that our method leads to grasps more similar to the human demonstration than existing approaches, without requiring any gripper-specific tuning. We confirm these findings through a user study and validate the applicability of our approach on a real robot.
1. Difference in female/male salary: 33/40 points
2. Difference in salary increases female/male: 35/35 points
3. Salary increases upon return from maternity leave: uncalculable
4. Number of employees in under-represented gender in 10 highest salaries: 0/10 points
NAVER France targets (with respect to the 2022 index) are as follows:
En 2022, NAVER France a obtenu les notes suivantes pour chacun des indicateurs :
1. Les écarts de salaire entre les femmes et les hommes: 33 sur 40 points
2. Les écarts des augmentations individuelles entre les femmes et les hommes : 35 sur 35 points
3. Toutes les salariées augmentées revenant de congé maternité : non calculable
4. Le nombre de salarié du sexe sous-représenté parmi les 10 plus hautes rémunérations : 0 sur 10 points
Les objectifs de progression pour l’index 2022 de NAVER France sont :
NAVER LABS Europe 6-8 chemin de Maupertuis 38240 Meylan France Contact
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