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Grasp As You Say: Robot Hand Learns Dexterous Grasping from Language. 87% Success!
- DexTOG is a framework for generating task-oriented dexterous grasps based on natural language instructions
- Uses a dual-branch architecture with language embeddings from CLIP and object point clouds
- Achieves 87.4% success rate on the ContactDB dataset
- Incorporates tactile feedback to improve grasping strategy
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