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‎index.html‎

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<body>
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<div class="columns is-centered">
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Madhava Krishna</a><sup>1</sup>
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</div> -->
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<!--
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<div class="is-size-5 publication-authors">
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<span class="author-block"><sup>1</sup>IIIT Hyderabad </span>
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<span class="author-block"><sup>2</sup>Brown University</span>
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<div class="publication-links">
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<!-- <span class="link-block">
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<a href="./static/DG16M_paper.pdf" target="_blank" class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="fas fa-file-pdf"></i>
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</span>
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<span>Paper</span>
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<span class="link-block">
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<a href="./static/images/dagdiff_paper.pdf" target="_blank"
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<span class="icon">
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<span>Paper</span>
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<span>arXiv</span>
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</a>
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</span>
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class="external-link button is-normal is-rounded is-dark">
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<a href="#" class="external-link button is-normal is-rounded is-dark">
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<span>Video</span>
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</a>
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<span class="link-block">
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<a href="https://github.com/DAG-Diff/dual-arm-grasp-diffusion"
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class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="fab fa-github"></i>
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<span>Code (coming soon)</span>
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<span>Code</span>
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</a>
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</span>
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<!-- <span class="link-block">
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<div class="container is-max-desktop">
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<h2 class="title is-3">Video Explanation</h2>
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src="./static/videos/intro_video.mp4">
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<h2 class="title is-3 mt-3">Abstract</h2>
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<h2 class="title is-3">Video Explanation</h2>
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intialization \((t=250\)) to refine grasps \((t=0\)). The energy head drives the generative
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dynamics, while the force-closure and collision heads bias the generation until stable,
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collision-free dual-arm grasps emerge.
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</div>
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<hr>
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<h4 class="title is-4 has-text-centered">\(SE(3) \times SE(3) \longleftrightarrow \mathbb{R}^{12}\)</h4>
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<img src=" ./static/images/logmap2.svg">
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Additionally, dual-arm grasp poses are represented as pairs of rigid-body transformations
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in \(SE(3) \times SE(3)\), which are mapped into a \(12\text{D}\) Euclidean space for diffusion and
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back.
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Each \(SE(3)\) element is
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first projected into its \(6\text{D}\) Lie algebra representation via the <u>logarithmic map</u>
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\((\operatorname{Logmap_{2}})\), and
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concatenated to form a vector in \(\mathbb{R}^{12}\).
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<br/> <br/>
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The diffusion process is then carried out in
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this Euclidean space. To obtain valid grasp poses, the <u>exponential map</u>
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\((\operatorname{Expmap_{2}})\) maps vectors in \(\mathbb{R}^{12}\) back to
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\(SE(3) \times SE(3)\). This bidirectional mapping enables diffusion while ensuring grasps remain
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consistent with rigid-body motion.
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</div>
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<div class="container is-max-desktop">
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<h2 class="title is-3">Real Life Results</h2>
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<h4 class="title is-5">Bucket</h4>
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<h4 class="title is-5">Tray</h4>
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<h4 class="title is-5">Drone</h4>
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<h4 class="title is-5">Saucepan</h4>
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<h2 class="title is-3">
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Real Life Results <sup style="font-size: 15px;">&dagger;</sup>
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</h2>
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<p class="is-size-7 has-text-grey mt-4 has-text-right">
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<sup>&dagger;</sup> Unseen object categories
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</video>
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<h4 class="title is-5">(a) Bucket</h4>
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</video>
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<h4 class="title is-5">(b) Tray</h4>
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</video>
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<h4 class="title is-5">(c) Drone</h4>
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<h4 class="title is-5">(d) Frypan</h4>
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<h4 class="title is-5">(e) Saucepan</h4>
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<!-- footnote -->
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‎static/css/index.css‎

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‎static/images/dagdiff_paper.pdf‎

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