相关论文: CAPGrasp: An $\mathbb{R}^3\times \text{SO(2)-equiv…
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…
6-DoF grasp detection has been a fundamental and challenging problem in robotic vision. While previous works have focused on ensuring grasp stability, they often do not consider human intention conveyed through natural language, hindering…
In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions. Leveraging reinforcement learning eliminates the…
Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of object images and grasp labels. However, empirical grasping…
Sampling strategies have been widely applied in many recommendation systems to accelerate model learning from implicit feedback data. A typical strategy is to draw negative instances with uniform distribution, which however will severely…
Mobile grasping enhances manipulation efficiency by utilizing robots' mobility. This study aims to enable a commercial off-the-shelf robot for mobile grasping, requiring precise timing and pose adjustments. Self-supervised learning can…
Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In this work, we propose a novel approach that directly maps…
We introduce AffordanceGrasp-R1, a reasoning-driven affordance segmentation framework for robotic grasping that combines a chain-of-thought (CoT) cold-start strategy with reinforcement learning to enhance deduction and spatial grounding. In…
Dexterous robotic hands enable versatile interactions due to the flexibility and adaptability of multi-fingered designs, allowing for a wide range of task-specific grasp configurations in diverse environments. However, to fully exploit the…
Compressed sensing enables sparse sampling but relies on generic bases and random measurements, limiting efficiency and reconstruction quality. Optimal sensor placement uses historcal data to design tailored sampling patterns, yet its…
We introduce constrained Gaussian process (CGP), a Gaussian process model for random functions that allows easy placement of mathematical constrains (e.g., non-negativity, monotonicity, etc) on its sample functions. CGP comes with…
Bimanual grasping is essential for robots to handle large and complex objects. However, existing methods either focus solely on single-arm grasping or employ separate grasp generation and bimanual evaluation stages, leading to coordination…
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…
Inductive Recommender Systems are capable of recommending for new users and with new items thus avoiding the need to retrain after new data reaches the system. However, these methods are still trained on all the data available, requiring…
Efficient and robust grasp pose detection is vital for robotic manipulation. For general 6 DoF grasping, conventional methods treat all points in a scene equally and usually adopt uniform sampling to select grasp candidates. However, we…
Robotic grasping in clutters is a fundamental task in robotic manipulation. In this work, we propose an economic framework for 6-DoF grasp detection, aiming to economize the resource cost in training and meanwhile maintain effective grasp…
Semi-structured knowledge bases (SKBs) embed textual documents in a typed graph of entities and relations, and underpin applications such as product search, academic paper search, and precision-medicine inquiries. Existing hybrid retrieval…
To fully utilize the versatility of a multi-fingered dexterous robotic hand for executing diverse object grasps, one must consider the rich physical constraints introduced by hand-object interaction and object geometry. We propose an…
Recent studies have demonstrated that many layers are functionally redundant in large language models (LLMs), enabling model compression by removing these layers to reduce inference cost. While such approaches can improve efficiency,…
We propose an optimization-based approach to plan power grasps. Central to our method is a reformulation of grasp planning as an infinite program under complementary constraints (IPCC), which allows contacts to happen between arbitrary…