Accepted by IEEE Computer Vision and Pattern Recognition (CVPR) 2026
We highly recommend using docker for running the experiments.
docker run --privileged -it \
--name dexterous_manipulation_desktop \
--hostname dexterous_manipulation_desktop \
--volume=/tmp/.X11-unix:/tmp/.X11-unix \
-v /path/to/container/mount:/home/user/Documents \
--cpus=32 --memory=64g --shm-size=16g \
--device=/dev/dri:/dev/dri \
-p 4582:22 \
--device=/dev:/dev \
--env="DISPLAY=$DISPLAY" \
-e "TERM=xterm-256color" \
--cap-add SYS_ADMIN --device /dev/fuse \
--gpus all \
boshuuu/vnc-cuda:cuda-12.1-devel-ubuntu20.04-gl-ros-noetic \
bashQuick Setup for diff-eig, FoundationPose, Contact Grasp Net, ROS, Realsense, gsplat.
mkdir -p ws/ActiveGrasp
cd ws/ActiveGrasp
git clone -b main --recursive https://github.com/RPFey/activegrasp-code.git activegrasp
cd activegrasp
conda env create -f environment.yaml
conda activate grasp
# for server [cluster]
chmod +x ./build.sh
TORCH_CUDA_ARCH_LIST="8.0;8.6;9.0" ./build.sh server
# for Desktop
TORCH_CUDA_ARCH_LIST="8.0;8.6;9.0" ./build.sh allNote, You can specify TORCH_CUDA_ARCH_LIST="x.x" according to your GPU arch
- PyKDL
add following lines in the orocos_kinematics_dynamics/python_orocos_kdl CMakeLists.txt
# insert this between line 17-18
include_directories(pybind11/include)
# insert this between line 26-27
SET(PYTHON_VERSION 3.11)
- DeadLock Issue
It seems that Python3.11 will stuck at rospy.init_node, please run
sudo cp dump/roslogging.py /opt/ros/noetic/lib/python3/dist-packages/rosgraph/roslogging.py- Gsplat Issue
Gsplat requires compute capability >= 7.0. If you encounter compile problems and you are sure your GPU satisfies the requirement, you can specify it during compilation.
# V100 is 700
TORCH_CUDA_ARCH_LIST="7.0" python3.11 -m pip install . -v
# for RTX4090
TORCH_CUDA_ARCH_LIST="9.0" python3.11 -m pip install . -vTo run a single environment:
bash slurm/local.sh -s 0 -e 2 --grasp se3diff_dual --active FisherGraspTo run the full evaluation:
bash slurm/launch-local.shTo run the experiment in real world:
# terminal 1
source devel/setup.bash && export DISPLAY=:1
roslaunch kinova_control ros_kortex.launch
# terminal 2
source devel/setup.bash && export DISPLAY=:1
export PYTHONPATH=/home/user/Documents/librealsense/build/Release:$PYTHONPATH
roslaunch kinova_control moveit_controller.launchMisc:
Coordinate sysmte of the robot arm: x: forward y: left z: up
x: forward
z
^ ^ x
| /
| /
y <______|/