Related papers: GAGrasp: Geometric Algebra Diffusion for Dexterous…
Geometry problem solving presents a formidable challenge within the NLP community. Existing approaches often rely on models designed for solving math word problems, neglecting the unique characteristics of geometry math problems.…
Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…
Generalizable dexterous grasping with suitable grasp types is a fundamental skill for intelligent robots. Developing such skills requires a large-scale and high-quality dataset that covers numerous grasp types (i.e., at least those…
This article presents a method for grasping novel objects by learning from experience. Successful attempts are remembered and then used to guide future grasps such that more reliable grasping is achieved over time. To generalise the learned…
High-fidelity reconstruction of dynamic scenes is an important yet challenging problem. While recent 4D Gaussian Splatting (4DGS) has demonstrated the ability to model temporal dynamics, it couples Gaussian motion and geometric attributes…
Training model to generate data has increasingly attracted research attention and become important in modern world applications. We propose in this paper a new geometry-based optimization approach to address this problem. Orthogonal to…
Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled…
State-of-the-art models for 3D molecular generation are based on significant inductive biases, SE(3), permutation equivariance to respect symmetry and graph message-passing networks to capture local chemistry, yet the generated molecules…
In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the…
This paper presents a new class of adaptive filters, namely Geometric-Algebra Adaptive Filters (GAAFs). They are generated by formulating the underlying minimization problem (a deterministic cost function) from the perspective of Geometric…
Dexterous functional tool-use grasping is essential for effective robotic manipulation of tools. However, existing approaches face significant challenges in efficiently constructing large-scale datasets and ensuring generalizability to…
In this paper, we propose a 3D geometry-aware deformable Gaussian Splatting method for dynamic view synthesis. Existing neural radiance fields (NeRF) based solutions learn the deformation in an implicit manner, which cannot incorporate 3D…
Accurate modeling and explaining geospatial tabular data (GTD) are critical for understanding geospatial phenomena and their underlying processes. Recent work has proposed a novel transformer-based deep learning model named GeoAggregator…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
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…
Robotic grasping is a fundamental yet crucial component of robotic applications, as effective grasping often serves as the starting point for various tasks. With the rapid advancement of neural networks, data-driven approaches for robotic…
This paper focuses on the problem of learning 6-DOF grasping with a parallel jaw gripper in simulation. We propose the notion of a geometry-aware representation in grasping based on the assumption that knowledge of 3D geometry is at the…
In densely cluttered environments, physical interference, visual occlusions, and unstable contacts often cause direct dexterous grasping to fail, while aggressive singulation strategies may compromise safety. Enabling robots to adaptively…
Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…
The rapid growth of graph data creates significant scalability challenges as most graph algorithms scale quadratically with size. To mitigate these issues, Graph Condensation (GC) methods have been proposed to learn a small graph from a…