相关论文: Volumetric-based Contact Point Detection for 7-DoF…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
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…
A height-function-based numerical approach is developed for enforcing contact angles on flat and curved solid surfaces within two-dimensional volume-of-fluid simulations. This method incorporates the contact line position into the curvature…
Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered environments. Grasp prediction errors and object pose changes…
High-dimensional manipulator operation in unstructured environments requires a differentiable, scene-agnostic distance query mechanism to guide safe motion generation. Existing geometric collision checkers are typically non-differentiable,…
Grasp detection of novel objects in unstructured environments is a key capability in robotic manipulation. For 2D grasp detection problems where grasps are assumed to lie in the plane, it is common to design a fully convolutional neural…
This paper introduces a novel approach to improve robotic grasping in dynamic environments by integrating Gaussian Process Distance Fields (GPDF), SE(3) equivariant networks, and Riemannian Mixture Models. The aim is to enable robots to…
We propose a hybrid continuum surface force (CSF) formulation to model the interface interaction within the three-phase volume of fluid (VOF) method. Instead of employing the height function globally, we compute the curvature based on a…
Learning-based grasp detectors typically assume a precision grasp, where each finger only has one contact point, and estimate the grasp probability. In this work, we propose a data generation and learning pipeline that can leverage power…
We study the problem of rapidly identifying contact dynamics of unknown objects in partially known environments. The key innovation of our method is a novel formulation of the contact dynamics estimation problem as the joint estimation of…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
Neural networks that map 3D coordinates to signed distance function (SDF) or occupancy values have enabled high-fidelity implicit representations of object shape. This paper develops a new shape model that allows synthesizing novel distance…
Dexterous grasping in cluttered scenes presents significant challenges due to diverse object geometries, occlusions, and potential collisions. Existing methods primarily focus on single-object grasping or grasp-pose prediction without…
Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
The deep learning models has significantly advanced dexterous manipulation techniques for multi-fingered hand grasping. However, the contact information-guided grasping in cluttered environments remains largely underexplored. To address…
Six degrees-of-freedom (6-DoF) video provides telepresence by enabling users to move around in the captured scene with a wide field of regard. Compared to methods requiring sophisticated camera setups, the image-based rendering method based…
Estimation of interface curvature in surface-tension dominated flows is a remaining challenge in Volume of Fluid (VOF) methods. Data-driven methods are recently emerging as a promising alternative in this domain. They outperform…
We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-backward automatic differentiation approach, including the…
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…