Related papers: Refining 6-DoF Grasps with Context-Specific Classi…
Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…
Language-driven grasp detection has the potential to revolutionize human-robot interaction by allowing robots to understand and execute grasping tasks based on natural language commands. However, existing approaches face two key challenges.…
In this work, we tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. The goal is to grasp and lift up objects in high-quality and diverse ways and generalize across…
The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…
Reasoning about object grasp affordances allows an autonomous agent to estimate the most suitable grasp to execute a task. While current approaches for estimating grasp affordances are effective, their prediction is driven by hypotheses on…
Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data…
Generative Flow Networks (GFlowNets), a new family of probabilistic samplers, have demonstrated remarkable capabilities to generate diverse sets of high-reward candidates, in contrast to standard return maximization approaches (e.g.,…
Sampling from unnormalized target distributions is a fundamental yet challenging task in machine learning and statistics. Existing sampling algorithms typically require many iterative steps to produce high-quality samples, leading to high…
Recent advances have shown that video generation models can enhance robot learning by deriving effective robot actions through inverse dynamics. However, these methods heavily depend on the quality of generated data and struggle with…
We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set,…
Inferring physical fields from sparse observations while strictly satisfying partial differential equations (PDEs) is a fundamental challenge in computational physics. Recently, deep generative models offer powerful data-driven priors for…
Most robotic grasping systems rely on converting sensor data into explicit 3D point clouds, which is a computational step not found in biological intelligence. This paper explores a fundamentally different, neuro-inspired paradigm for 6-DoF…
Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target object. A promising solution to mitigate this issue is…
In this paper, we present a transformer-based architecture, namely TF-Grasp, for robotic grasp detection. The developed TF-Grasp framework has two elaborate designs making it well suitable for visual grasping tasks. The first key design is…
Task-oriented grasping is a crucial yet challenging task in robotic manipulation. Despite the recent progress, few existing methods address task-oriented grasping with dexterous hands. Dexterous hands provide better precision and…
We introduce DexGanGrasp, a dexterous grasping synthesis method that generates and evaluates grasps with single view in real time. DexGanGrasp comprises a Conditional Generative Adversarial Networks (cGANs)-based DexGenerator to generate…
Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
In real-world scenarios, objects often require repositioning and reorientation before they can be grasped, a process known as pre-grasp manipulation. Learning universal dexterous functional pre-grasp manipulation requires precise control…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…