Related papers: Grasp Synthesis Matching From Rigid To Soft Robot …
High-level robotic manipulation tasks demand flexible 6-DoF grasp estimation to serve as a basic function. Previous approaches either directly generate grasps from point-cloud data, suffering from challenges with small objects and sensor…
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,…
We propose CAPGrasp, an $\mathbb{R}^3\times \text{SO(2)-equivariant}$ 6-DoF continuous approach-constrained generative grasp sampler. It includes a novel learning strategy for training CAPGrasp that eliminates the need to curate massive…
This paper tackles the problem of physics-aware human motion synthesis in a dynamic scene. Unlike existing works which mainly tend to generate physically unrealistic motions due to limited contact modeling, typically restricted to hands, in…
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…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…
Robotic grasping is one of the most fundamental tasks in robotic manipulation, and grasp detection/generation has long been the subject of extensive research. Recently, language-driven grasp generation has emerged as a promising direction…
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…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
Transferring human motion from a source to a target person poses great potential in computer vision and graphics applications. A crucial step is to manipulate sequential future motion while retaining the appearance characteristic.Previous…
Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize across diverse objects and task instructions, as they…
Deep learning-based surface electromyography (sEMG) gesture recognition is frequently bottlenecked by data scarcity and limited subject diversity. While synthetic data generation via Generative Adversarial Networks (GANs) and diffusion…
Autoregressive (AR) models have emerged as powerful tools for image generation by modeling images as sequences of discrete tokens. While Classifier-Free Guidance (CFG) has been adopted to improve conditional generation, its application in…
Robotic grasp detection for novel objects is a challenging task, but for the last few years, deep learning based approaches have achieved remarkable performance improvements, up to 96.1% accuracy, with RGB-D data. In this paper, we propose…
Fabricating existing and popular open-source adaptive robotic grippers commonly involves using multiple professional machines, purchasing a wide range of parts, and tedious, time-consuming assembly processes. This poses a significant…
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast -- such as when the object…
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…