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In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
Spatial join processing techniques that identify intersections between complex geometries (e.g., polygons) commonly follow a two-step filter-and-refine pipeline. The filter step evaluates the query predicate on the minimum bounding…
Sparse, irregular graphs show up in various applications like linear algebra, machine learning, engineering simulations, robotic control, etc. These graphs have a high degree of parallelism, but their execution on parallel threads of modern…
In this paper, we propose Lan-grasp, a novel approach towards more appropriate semantic grasping and placing. We leverage foundation models to equip the robot with a semantic understanding of object geometry, enabling it to identify the…
Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing grippers struggle to grasp feature-rich objects with high topological variability,…
This paper concerns models and convergence principles for dealing with stochasticity in a wide range of algorithms arising in nonlinear analysis and optimization in Hilbert spaces. It proposes a flexible geometric framework within which…
We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…
We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different from the traditional methods, our approach decouples caging…
Generating realistic hand motion sequences in interaction with objects has gained increasing attention with the growing interest in digital humans. Prior work has illustrated the effectiveness of employing occupancy-based or distance-based…
Grasping has been a crucial but challenging problem in robotics for many years. One of the most important challenges is how to make grasping generalizable and robust to novel objects as well as grippers in unstructured environments. We…
We present a fast and reactive grasping framework that combines task-space velocity fields with joint-space Quadratic Program (QP) in a hierarchical structure. Reactive, collision-free global motion planning is particularly challenging for…
Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…
Accepted in the ICIP 2025 We present a novel transformer-based framework for whole-body grasping that addresses both pose generation and motion infilling, enabling realistic and stable object interactions. Our pipeline comprises three…
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…
Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp planners, however, are hindered by limited vision-language…
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…
In this paper, we introduce a novel parallel contact algorithm designed to run efficiently in High-Performance Computing based supercomputers. Particular emphasis is put on its computational implementation in a multiphysics finite element…
In practice, objective functions of real-time control systems can have multiple local minimums or can dramatically change over the function space, making them hard to optimize. To efficiently optimize such systems, in this paper, we develop…
The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of…