Related papers: Multi-GraspLLM: A Multimodal LLM for Multi-Hand Se…

Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise…

A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…

Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…

Large Language Models (LLMs) possess human-level cognitive and decision-making capabilities, making them a key technology for 6G. However, applying LLMs to the communication domain faces three major challenges: 1) Inadequate communication…

Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with…

This paper aims to design a unified Computer-Aided Design (CAD) generation system that can easily generate CAD models based on the user's inputs in the form of textual description, images, point clouds, or even a combination of them.…

There has been increasing interest in smart factories powered by robotics systems to tackle repetitive, laborious tasks. One impactful yet challenging task in robotics-powered smart factory applications is robotic grasping: using robotic…

Dexterous grasp datasets are vital for embodied intelligence, but mostly emphasize grasp stability, ignoring functional grasps needed for tasks like opening bottle caps or holding cup handles. Most rely on bulky, costly, and hard-to-control…

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…

Language-driven dexterous grasp generation requires the models to understand task semantics, 3D geometry, and complex hand-object interactions. While vision-language models have been applied to this problem, existing approaches directly map…

Humans naturally perform bimanual skills to handle large and heavy objects. To enhance robots' object manipulation capabilities, generating effective bimanual grasp poses is essential. Nevertheless, bimanual grasp synthesis for dexterous…

Cross-modality generation is an emerging topic that aims to synthesize data in one modality based on information in a different modality. In this paper, we consider a task of such: given an arbitrary audio speech and one lip image of…

Multi-modal large language models (MLLMs) have demonstrated remarkable success in vision and visual-language tasks within the natural image domain. Owing to the significant diversities between the natural and remote sensing (RS) images, the…

Due to their significance in human communication, the automatic generation of co-speech gestures in artificial embodied agents has received a lot of attention. Although modern deep learning approaches can generate realistic-looking…

The advent of large language models, enabling flexibility through instruction-driven approaches, has revolutionized many traditional generative tasks, but large models for 3D data, particularly in comprehensively handling 3D shapes with…

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…

Multi-modal graphs, which integrate diverse multi-modal features and relations, are ubiquitous in real-world applications. However, existing multi-modal graph learning methods are typically trained from scratch for specific graph data and…

Large language models (LLMs) have demonstrated immense potential across various tasks. However, research for exploring and improving the capabilities of LLMs in interpreting graph structures remains limited. To address this gap, we conduct…

In recent years, as robotics has advanced, human-robot collaboration has gained increasing importance. However, current robots struggle to fully and accurately interpret human intentions from voice commands alone. Traditional gripper and…