One shot learning and generation of dexterous grasps for novel objects

Marek Kopicki, Renaud Detry, Maxime Adjigble, Rustam Stolkin, Ales Leonardis, Jeremy L Wyatt

Research output: Contribution to journalArticlepeer-review

59 Citations (Scopus)
265 Downloads (Pure)


This paper presents a method for one-shot learning of dexterous grasps, and grasp generation for novel objects. A model of each grasp type is learned from a single kinesthetic demonstration, and several types are taught. These models are used to select and generate grasps for unfamiliar objects. Both the learning and generation stages use an incomplete point cloud from a depth camera – no prior model of object shape is used. The learned model is a product of experts, in which experts are of two types. The first is a contact model and is a density over the pose of a single hand link relative to the local object surface. The second is the hand configuration model and is a density over the whole hand configuration. Grasp generation for an unfamiliar object optimises the product of these two model types, generating thousands of grasp candidates in under 30 seconds. The method is robust to incomplete data at both training and testing stages. When several grasp types are considered the method selects the highest likelihood grasp across all the types. In an experiment, the training set consisted of five different grasps, and the test set of forty-five previously unseen objects. The success rate of the first choice grasp is 84.4% or 77.7% if seven views or a single view of the test object are taken, respectively.
Original languageEnglish
Pages (from-to)959–976
Number of pages18
JournalThe International Journal of Robotics Research
Issue number8
Early online date18 Sept 2015
Publication statusPublished - 1 Jul 2016


  • Learning and adaptive systems
  • dexterous manipulation
  • cognitive robotics
  • manipulation
  • grasping


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