Related papers: Generative grasp synthesis from demonstration usin…

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…

Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…

We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…

Graph learning algorithms have attained state-of-the-art performance on many graph analysis tasks such as node classification, link prediction, and clustering. It has, however, become hard to track the field's burgeoning progress. One…

Self-supervised grasp learning, i.e., learning to grasp by trial and error, has made great progress. However, it is still time-consuming to train such a model and also a challenge to apply it in practice. This work presents an accelerating…

Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets to learn to grasp unknown objects. However, those datasets…

Daily objects embedded in a contextual environment are often ungraspable initially. Whether it is a book sandwiched by other books on a fully packed bookshelf or a piece of paper lying flat on the desk, a series of nonprehensile pregrasp…

Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

Evaluation of grasps on deformable 3D objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their…

We present a generative predictive control (GPC) framework that amortizes sampling-based Model Predictive Control (SPC) by bootstrapping it with conditional flow-matching models trained on SPC control sequences collected in simulation.…

Synthetic data generation to improve classification performance (data augmentation) is a well-studied problem. Recently, generative adversarial networks (GAN) have shown superior image data augmentation performance, but their suitability in…

This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. The ContactGen comprises three components: a contact map indicates the contact location, a part map represents the contact hand part,…

We present GenMM, a generative model that "mines" as many diverse motions as possible from a single or few example sequences. In stark contrast to existing data-driven methods, which typically require long offline training time, are prone…

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…

Within the imitation learning paradigm, training generalist robots requires large-scale datasets obtainable only through diverse curation. Due to the relative ease to collect, human demonstrations constitute a valuable addition when…

Prototype-driven text generation uses non-parametric models that first choose from a library of sentence "prototypes" and then modify the prototype to generate the output text. While effective, these methods are inefficient at test time as…

3D data that contains rich geometry information of objects and scenes is valuable for understanding 3D physical world. With the recent emergence of large-scale 3D datasets, it becomes increasingly crucial to have a powerful 3D generative…