Related papers: Variational Shape Inference for Grasp Diffusion on…
Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…
Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and result in a force equilibrium. To assess stability, existing…
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…
Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…
Denoising diffusion models have shown great promise in human motion synthesis conditioned on natural language descriptions. However, integrating spatial constraints, such as pre-defined motion trajectories and obstacles, remains a challenge…
Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis,…
The creation of high-fidelity 3D assets is often hindered by a 'pixel-level pain point': the loss of high-frequency details. Existing methods often trade off one aspect for another: either sacrificing cross-view consistency, resulting in…
Dexterous grasping remains a central challenge in robotics due to the complexity of its high-dimensional state and action space. We introduce T(R,O) Grasp, a diffusion-based framework that efficiently generates accurate and diverse grasps…
Synthesizing novel 3D models that resemble the input example has long been pursued by graphics artists and machine learning researchers. In this paper, we present Sin3DM, a diffusion model that learns the internal patch distribution from a…
Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the object geometry happens effortlessly because of the accumulated…
Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…
Acquiring aligned visuo-tactile datasets is slow and costly, requiring specialised hardware and large-scale data collection. Synthetic generation is promising, but prior methods are typically single-modality, limiting cross-modal learning.…
Imitation learning has emerged as a crucial ap proach for acquiring visuomotor skills from demonstrations, where designing effective observation encoders is essential for policy generalization. However, existing methods often struggle to…
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…
Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents a data-driven oriented methodology to model the grasp space of a multi-fingered adaptive gripper for known objects.…
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…
High-fidelity numerical simulations of chaotic, high dimensional nonlinear dynamical systems are computationally expensive, necessitating the development of efficient surrogate models. Most surrogate models for such systems are…
In this work, we present several heuristic-based and data-driven active vision strategies for viewpoint optimization of an arm-mounted depth camera for the purpose of aiding robotic grasping. These strategies aim to efficiently collect data…
Given point cloud input, the problem of 6-DoF grasp pose detection is to identify a set of hand poses in SE(3) from which an object can be successfully grasped. This important problem has many practical applications. Here we propose a novel…
Grasp learning in noisy environments, such as occlusions, sensor noise, and out-of-distribution (OOD) objects, poses significant challenges. Recent learning-based approaches focus primarily on capturing aleatoric uncertainty from inherent…