# Learning to Detect Multi-Modal Grasps for Dexterous Grasping in Dense Clutter

arXiv: https://arxiv.org/abs/2106.03919 · HTML: https://mlsanity.com/paper/2106.03919/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Jun 2021.

## Built on by (most cited first, 1 of 1)

- [ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mapping](https://mlsanity.com/paper/2404.08844/) (2024)

## Abstract (arXiv)

We propose an approach to multi-modal grasp detection that jointly predicts the probabilities that several types of grasps succeed at a given grasp pose. Given a partial point cloud of a scene, the algorithm proposes a set of feasible grasp candidates, then estimates the probabilities that a grasp of each type would succeed at each candidate pose. Predicting grasp success probabilities directly from point clouds makes our approach agnostic to the number and placement of depth sensors at execution time. We evaluate our system both in simulation and on a real robot with a Robotiq 3-Finger Adaptive Gripper and compare our network against several baselines that perform fewer types of grasps. Our experiments show that a system that explicitly models grasp type achieves an object retrieval rate 8.5% higher in a complex cluttered environment than our highest-performing baseline.