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‎index.html‎

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<div class="columns is-centered">
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<h1 class="title is-1 publication-title"><span class="gradient-text">DAGDiff</span>: Guiding
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Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps</h1>
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Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps
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</h1>
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<div class="is-size-5 publication-authors">
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<span class="author-block">
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<a href="https://researchweb.iiit.ac.in/~md.faizal/" target="_blank">Md Faizal
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Kairm</a><sup>1⭐</sup>,</span>
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<span class="author-block">
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<a href="#" target="_blank">Vignesh Vembar</a><sup>1⭐</sup>,</span>
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<span class="author-block">
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<a href="#" target="_blank">Keshab Patra</a><sup>1</sup>,
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</span>
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<span class="author-block">
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<a href="https://vanhalen42.github.io/" target="_blank">Gaurav Singh</a><sup>2</sup>,
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</span>
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<span class="author-block">
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<a href="https://scholar.google.com/citations?user=QDuPGHwAAAAJ" target="_blank">K
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Madhava Krishna</a><sup>1</sup>
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</span>
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</div>
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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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<br>
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<span class="author-block"><sup>⭐</sup>Equal contribution</span>
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<br>
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</div>
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<div class="column has-text-centered">
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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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</a>
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</span> -->
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<span class="link-block">
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<a href="#" class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="ai ai-arxiv"></i>
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</span>
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<span>arXiv</span>
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</a>
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</span>
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<!-- <span class="link-block">
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<a href="#"
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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-youtube"></i>
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</span>
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<span>Video</span>
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</a>
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</span> -->
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<span class="link-block">
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<a href="#" 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>
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<span>Code (coming soon)</span>
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</a>
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</span>
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<!-- <span class="link-block">
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<a href="https://iiithydresearch-my.sharepoint.com/:f:/g/personal/md_faizal_research_iiit_ac_in/EnqjJBibsMhJlCIn4f4uWggB2nTwXOFHKL2SNbBWk2YDNA?e=wjOGDC"
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class="external-link button is-normal is-rounded is-dark" target="_blank">
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<span class="icon">
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<i class="fa fa-database"></i>
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</span>
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<span>Download Dataset</span>
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</a>
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</span> -->
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</div>
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</div>
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</div>
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</div>
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<!-- <h2 class="title is-3">Model Architecture</h2> -->
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<img src="./static/teaser_icra2025.svg" width="70%">
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<img src="./static/images/teaser_icra2025.svg" width="70%">
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<!-- <div class="content has-text-justified my-4">
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<b>Overview of the proposed method</b>: <b>(a)</b> Given an object point cloud P , our network
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encodes
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<h2 class="title is-3">Video Explanation</h2>
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<video controls muted poster="./static/video_thumbnail.png" preload="none"
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src="./static/intro_video.mp4">
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<video controls muted poster="./static/images/video_thumbnail.png" preload="none"
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src="./static/videos/intro_video.mp4">
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</video>
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<h2 class="title is-3">Model Architecture</h2>
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<img src="./static/pipeline.svg">
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<img src="./static/images/pipeline.svg">
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<div class="content has-text-justified my-4">
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<b>Overview of the proposed method</b>: <b>(a)</b> Given an object point cloud P , our network
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a feature vector.
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This vector is then used by three output heads that predict energy \((E_\alpha)\), force-closure
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probability \((C_{\beta}^{\text{fc}})\) and
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collision probability \((C_{\gamma}^{\text{col}})\), jointly guiding the diffusion process. <b>(b)</b> At
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collision probability \((C_{\gamma}^{\text{col}})\), jointly guiding the diffusion process.
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<b>(b)</b> At
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inference, denoising proceeds from random
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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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<div class="container is-max-desktop">
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<h2 class="title is-3">Results</h2>
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<h2 class="title is-3">Results (Coming soon)</h2>
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</div>
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</div>
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</div>
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</section>
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<section class="section" id="BibTeX" style="margin-bottom: 1rem;">
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<div class="container is-max-desktop content">
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<h2 class="title">BibTeX</h2>
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<pre><code>@misc{dagdiff2025,
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title={DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps}
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author={Md Faizal Karim and Vignesh Vembar and Keshab Patra and Gaurav Singh and K Madhava Krishna},
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year={2025},
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journal={}
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}</code></pre>
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</div>
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</section>
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‎static/css/index.css‎

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/* background: linear-gradient(to right, #ad6eff, #e674c9); */
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background: linear-gradient(to right, hsl(251, 100%, 71%), #cf55ff); /* DarkBlue to LightBlue */
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background: linear-gradient(to right, hsl(251, 100%, 65%), hsl(278, 100%, 73%)); /* DarkBlue to LightBlue */
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-webkit-background-clip: text;
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background-clip: text;

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static/teaser_icra2025.svg renamed to static/images/teaser_icra2025.svg

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