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Second, we present a dataset, generated by this simulator, of 2.4 million simulated dexterous grasps of variations of 294 base objects drawn from 20 categories. Third, we combine an existing approach to learn a grasp generation model with three different learned evaluative models employing ResNet-50 or VGG16 as their visual backbone. Fourth, we train, and evaluate 17 variants of the resulting generative-evaluative architectures on the simulated dataset, showing improvement from 69.53% grasp success rate to 90.49%. Fifth, we present a real robot implementation and evaluate the four most promising variants, executing 196 real robot grasps in total. We show that our best architectural variant achieves a grasp success rate of 87.8% on real novel objects seen from a single view, improving on a baseline of 57.1%. Finally, we explore the inner workings of our best evaluative model and perform an extensive analysis of its results on the simulated dataset. <\/jats:p>","DOI":"10.1142\/s0219843622500116","type":"journal-article","created":{"date-parts":[[2022,6,14]],"date-time":"2022-06-14T09:04:01Z","timestamp":1655197441000},"source":"Crossref","is-referenced-by-count":16,"title":["Deep Dexterous Grasping of Novel Objects From a Single View"],"prefix":"10.1142","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1521-4143","authenticated-orcid":false,"given":"\u00dcmit Ru\u015fen","family":"Akta\u015f","sequence":"first","affiliation":[{"name":"Intelligent Robotics Lab, University of Birmingham, Birmingham, West Midlands, B15 2TT, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Zhao","sequence":"additional","affiliation":[{"name":"Robotics Institute, Department of Electronic and Computer Engineering, HKUST Hongkong, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marek","family":"Kopicki","sequence":"additional","affiliation":[{"name":"Intelligent Robotics Lab, University of Birmingham, Birmingham, West Midlands, B15 2TT, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jeremy L.","family":"Wyatt","sequence":"additional","affiliation":[{"name":"Intelligent Robotics Lab, University of Birmingham, Birmingham, West Midlands, B15 2TT, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2022,8,17]]},"reference":[{"key":"S0219843622500116BIB001","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915594244"},{"key":"S0219843622500116BIB002","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919865338"},{"key":"S0219843622500116BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"S0219843622500116BIB005","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909105606"},{"key":"S0219843622500116BIB006","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-05181-4_19"},{"key":"S0219843622500116BIB007","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354004"},{"key":"S0219843622500116BIB008","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843616500043"},{"issue":"2","key":"S0219843622500116BIB009","first-page":"1650004","volume":"13","author":"Al\u00f3 R.","year":"2016","journal-title":"Int. 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