Related papers: Diffusion for Multi-Embodiment Grasping
While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic. Reasoning and planning collision-free trajectories on the…
This study presents a grasping method for objects with uneven mass distribution by leveraging diffusion models to localize the center of gravity (CoG) on unknown objects. In robotic grasping, CoG deviation often leads to postural…
Automated 3D scene generation is pivotal for applications spanning virtual reality, digital content creation, and Embodied AI. While computer graphics prioritizes aesthetic layouts, vision and robotics demand scenes that mirror real-world…
Dexterous manipulation, particularly adept coordinating and grasping, constitutes a fundamental and indispensable capability for robots, facilitating the emulation of human-like behaviors. Integrating this capability into robots empowers…
The goal of general-purpose robotics is to create agents that can seamlessly adapt to and operate in diverse, unstructured human environments. Imitation learning has become a key paradigm for robotic manipulation, yet collecting large-scale…
Learning-based 3D Scanning plays a crucial role in enabling efficient and accurate scanning of target objects. However, recent reinforcement learning-based methods often require large-scale training data and still struggle to generalize to…
Reliable dual-arm grasping is essential for manipulating large and complex objects but remains a challenging problem due to stability, collision, and generalization requirements. Prior methods typically decompose the task into two…
General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…
Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…
Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…
Diffusion models, as a novel generative paradigm, have achieved remarkable success in various image generation tasks such as image inpainting, image-to-text translation, and video generation. Graph generation is a crucial computational task…
Transferring the depth-based end-to-end policy trained in simulation to physical robots can yield an efficient and robust grasping policy, yet sensor artifacts in real depth maps like voids and noise establish a significant sim2real gap…
Diffusion models, a family of generative models based on deep learning, have become increasingly prominent in cutting-edge machine learning research. With a distinguished performance in generating samples that resemble the observed data,…
Contact-rich manipulation depends on applying the correct grasp forces throughout the manipulation task, especially when handling fragile or deformable objects. Most existing imitation learning approaches often treat visuotactile feedback…
Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…
Generating human grasping poses that accurately reflect both object geometry and user-specified interaction semantics is essential for natural hand-object interactions in AR/VR and embodied AI. However, existing semantic grasping approaches…
Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors (e.g. vision, tactile) to gain information about the object, to building passively compliant hands that react appropriately…
Achieving diverse and stable dexterous grasping for general and deformable objects remains a fundamental challenge in robotics, due to high-dimensional action spaces and uncertainty in perception. In this paper, we present D3Grasp, a…
Objects within a category are often similar in their shape and usage. When we---as humans---want to grasp something, we transfer our knowledge from past experiences and adapt it to novel objects. In this paper, we propose a new approach for…