Click to Grasp: Zero-Shot Precise Manipulation
via Visual Diffusion Descriptors

Nikolaos Tsagkas^1,2, Jack Rome¹, Subramanian Ramamoorthy^1,2, Oisin Mac Aodha¹, Chris Xiaoxuan Lu³,

¹University of Edinburgh, ²Edinburgh Centre for Robotics, ³UCL,

Website | Paper

Click to Grasp

The code will be available in late summer, 2024.

https://github.com/tsagkas/click2grasp/assets/53827820/46f345db-f211-427b-883f-9b8d28f3578a

Citation

If you found this repo useful for your research, please consider citing the paper. Also, consider citing the following works that made Click to Grasp possible: D3-Fields, F3RM, Tale-of-Two-Features, Diffusion-Hyperfeatures.

@article{tsagkas2024click,
    title={Click to Grasp: Zero-Shot Precise Manipulation via Visual Diffusion Descriptors},
    author={Tsagkas, Nikolaos and Rome, Jack and Ramamoorthy, Subramanian and Mac Aodha, Oisin and Lu, Chris Xiaoxuan},
    journal={arXiv preprint arXiv:2403.14526},
    year={2024}
}