Related papers: AffordDexGrasp: Open-set Language-guided Dexterous…
Tool use requires reasoning about the fit between an object's affordances and the demands of a task. Visual affordance learning can benefit from goal-directed interaction experience, but current techniques rely on human labels or expert…
Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constraints are substantially stronger than in open tabletop scenes.…
Affordance is crucial for intelligent robots in the context of object manipulation. In this paper, we argue that affordance should be task-/instruction-dependent, which is overlooked by many previous works. That is, different instructions…
Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…
Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…
Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…
Self-supervised grasp learning, i.e., learning to grasp by trial and error, has made great progress. However, it is still time-consuming to train such a model and also a challenge to apply it in practice. This work presents an accelerating…
Reasoning about object affordances allows an autonomous agent to perform generalised manipulation tasks among object instances. While current approaches to grasp affordance estimation are effective, they are limited to a single hypothesis.…
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp…
Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spatial relationships between objects. Vision-Language Models…
Grasp detection is a persistent and intricate challenge with various industrial applications. Recently, many methods and datasets have been proposed to tackle the grasp detection problem. However, most of them do not consider using natural…
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners…
Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping…
Objects with large base areas become ungraspable when they exceed the end-effector's maximum aperture. Existing approaches address this limitation through extrinsic dexterity, which exploits environmental features for non-prehensile…
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…
Building a generalized affordance grounding model to identify actionable regions on objects is vital for real-world applications. Existing methods to train the model can be divided into weakly and fully supervised ways. However, the former…
Acquiring knowledge about object interactions and affordances can facilitate scene understanding and human-robot collaboration tasks. As humans tend to use objects in many different ways depending on the scene and the objects' availability,…
Grasping assistance is essential for restoring autonomy in individuals with motor impairments, particularly in unstructured environments where object categories and user intentions are diverse and unpredictable. We present OVGrasp, a…
Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stable grasps but are inefficient and lack task adaptability,…
To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle with visually defined parts, occlusions, and unseen objects.…