相关论文: FuncGrasp: Learning Object-Centric Neural Grasp Fu…

We introduce a neural implicit representation for grasps of objects from multiple robotic hands. Different grasps across multiple robotic hands are encoded into a shared latent space. Each latent vector is learned to decode to the 3D shape…

Successful robotic grasping in cluttered environments not only requires a model to visually ground a target object but also to reason about obstructions that must be cleared beforehand. While current vision-language embodied reasoning…

Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…

Universal grasping with multi-fingered dexterous hands is a fundamental challenge in robotic manipulation. While recent approaches successfully learn closed-loop grasping policies using reinforcement learning (RL), the inherent difficulty…

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…

This paper presents a spectral correlation-based method (SpectGRASP) for robotic grasping of arbitrarily shaped, unknown objects. Given a point cloud of an object, SpectGRASP extracts contact points on the object's surface matching the hand…

This paper concerns the problem of how to learn to grasp dexterously, so as to be able to then grasp novel objects seen only from a single view-point. Recently, progress has been made in data-efficient learning of generative grasp models…

Target-oriented grasping in unstructured scenes with language control is essential for intelligent robot arm grasping. The ability for the robot arm to understand the human language and execute corresponding grasping actions is a pivotal…

Robots acting in open environments need to be able to handle novel objects. Based on the observation that objects within a category are often similar in their shapes and usage, we propose an approach for transferring grasping skills from…

While remarkable success has been achieved through diffusion-based 3D generative models for shapes, 4D generative modeling remains challenging due to the complexity of object deformations over time. We propose DNF, a new 4D representation…

We formulate grasp learning as a neural field and present Neural Grasp Distance Fields (NGDF). Here, the input is a 6D pose of a robot end effector and output is a distance to a continuous manifold of valid grasps for an object. In contrast…

Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

In this paper we propose an end-to-end learnable approach that detects static urban objects from multiple views, re-identifies instances, and finally assigns a geographic position per object. Our method relies on a Graph Neural Network…

Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…

We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveraging Foundation Models (FMs) for spatial reasoning and active…

In this work, we explore a novel task of generating human grasps based on single-view scene point clouds, which more accurately mirrors the typical real-world situation of observing objects from a single viewpoint. Due to the incompleteness…

Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…