相关论文: GraspR: A Computational Model of Spatial User Pref…
The established way of interfacing with most computer systems is a mouse and keyboard. Hand gestures are an intuitive and effective touchless way to interact with computer systems. However, hand gesture based systems have seen low adoption…
An adaptive guidance system that supports equipment operators requires a comprehensive model, which involves a variety of user behaviors that considers different skill and knowledge levels, as well as rapid-changing task situations. In the…
World models simulate environment dynamics from raw sensory inputs like video. However, using them for planning can be challenging due to the vast and unstructured search space. We propose a robust and highly parallelizable planner that…
Real-time interactive grasp synthesis for dynamic objects remains challenging as existing methods fail to achieve low-latency inference while maintaining promptability. To bridge this gap, we propose SPGrasp (spatiotemporal prompt-driven…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
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…
We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…
This paper aims to improve robots' versatility and adaptability by allowing them to use a large variety of end-effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes…
Dexterous grasping aims to produce diverse grasping postures with a high grasping success rate. Regression-based methods that directly predict grasping parameters given the object may achieve a high success rate but often lack diversity.…
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…
As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…
Graphical user interface (GUI) grounding, the process of mapping human instructions to GUI actions, serves as a fundamental basis to autonomous GUI agents. While existing grounding models achieve promising performance to simulate the mouse…
Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…
Occupation information can be utilized by digital assistants to provide occupation-specific personalized task support, including interruption management, task planning, and recommendations. Prior research in the digital workplace assistant…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…
The absence of physical interfaces creates challenges when interacting with touchscreen technology. This study aims to investigate an innovative haptic solution for interacting with graphical user interfaces. A motorized shape-changing…
Preference-based optimization algorithms are iterative procedures that seek the optimal calibration of a decision vector based only on comparisons between couples of different tunings. At each iteration, a human decision-maker expresses a…
To perform household tasks, assistive robots receive commands in the form of user language instructions for tool manipulation. The initial stage involves selecting the intended tool (i.e., object grounding) and grasping it in a…