Related papers: SegGrasp: Zero-Shot Task-Oriented Grasping via Sem…
Robotic grasping traditionally relies on object features or shape information for learning new or applying already learned grasps. We argue however that such a strong reliance on object geometric information renders grasping and grasp…
The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…
Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…
As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…
Despite the enormous progress and generalization in robotic grasping in recent years, existing methods have yet to scale and generalize task-oriented grasping to the same extent. This is largely due to the scale of the datasets both in…
Generating natural human grasps necessitates consideration of not just object geometry but also semantic information. Solely depending on object shape for grasp generation confines the applications of prior methods in downstream tasks. This…
Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveraging Foundation Models (FMs) for spatial reasoning and active…
Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…
Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing methods are either constrained to narrow…
The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…
Tool manipulation is vital for facilitating robots to complete challenging task goals. It requires reasoning about the desired effect of the task and thus properly grasping and manipulating the tool to achieve the task. Task-agnostic…
Interactive grasping from clutter, akin to human dexterity, is one of the longest-standing problems in robot learning. Challenges stem from the intricacies of visual perception, the demand for precise motor skills, and the complex interplay…
Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is challenging, since task-relevant grasp labels are hard to…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive…
Single-view RGB-D grasp detection remains a common choice in 6-DoF robotic grasping systems, which typically requires a depth sensor. While RGB-only 6-DoF grasp methods has been studied recently, their inaccurate geometric representation is…
The language-guided robot grasping task requires a robot agent to integrate multimodal information from both visual and linguistic inputs to predict actions for target-driven grasping. While recent approaches utilizing Multimodal Large…