Related papers: Diffusion for Multi-Embodiment Grasping

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

Despite recent progress on multi-finger dexterous grasping, current methods focus on single grippers and unseen objects, and even the ones that explore cross-embodiment, often fail to generalize well to unseen end-effectors. This work…

Grasp planning is an important task for robotic manipulation. Though it is a richly studied area, a standalone, fast, and differentiable grasp planner that can work with robot grippers of different DOFs has not been reported. In this work,…

We present a novel method for exemplar-based image translation, called matching interleaved diffusion models (MIDMs). Most existing methods for this task were formulated as GAN-based matching-then-generation framework. However, in this…

In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…

Diffusion-based generative modeling has been achieving state-of-the-art results on various generation tasks. Most diffusion models, however, are limited to a single-generation modeling. Can we generalize diffusion models with the ability of…

Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…

Diffusion models have established themselves as state-of-the-art generative models across various data modalities, including images and videos, due to their ability to accurately approximate complex data distributions. Unlike traditional…

This paper introduces a Multi-modal Diffusion model for Motion Prediction (MDMP) that integrates and synchronizes skeletal data and textual descriptions of actions to generate refined long-term motion predictions with quantifiable…

Recent advances in diffusion models have opened new avenues for research into embodied AI agents and robotics. Despite significant achievements in complex robotic locomotion and skills, mobile manipulation-a capability that requires the…

The hand plays a pivotal role in human ability to grasp and manipulate objects and controllable grasp synthesis is the key for successfully performing downstream tasks. Existing methods that use human intention or task-level language as…

Diffusion models have shown significant progress in image translation tasks recently. However, due to their stochastic nature, there's often a trade-off between style transformation and content preservation. Current strategies aim to…

This paper presents a new method for parallel-jaw grasping of isolated objects from depth images, under large gripper pose uncertainty. Whilst most approaches aim to predict the single best grasp pose from an image, our method first…

Despite promising progress in face swapping task, realistic swapped images remain elusive, often marred by artifacts, particularly in scenarios involving high pose variation, color differences, and occlusion. To address these issues, we…

We introduce a large-scale dataset named MultiGripperGrasp for robotic grasping. Our dataset contains 30.4M grasps from 11 grippers for 345 objects. These grippers range from two-finger grippers to five-finger grippers, including a human…

Deep generative models have garnered significant attention in low-level vision tasks due to their generative capabilities. Among them, diffusion model-based solutions, characterized by a forward diffusion process and a reverse denoising…

The collection of large-scale and diverse robot demonstrations remains a major bottleneck for imitation learning, as real-world data acquisition is costly and simulators offer limited diversity and fidelity with pronounced sim-to-real gaps.…

The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of…

Operating effectively in novel real-world environments requires robotic systems to estimate and interact with previously unseen objects. Current state-of-the-art models address this challenge by using large amounts of training data and…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…