相关论文: DexGrasp Anything: Towards Universal Robotic Dexte…

For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus on the problem of synthesizing grasps for multi-finger…

Synthesizing 3D whole bodies that realistically grasp objects is useful for animation, mixed reality, and robotics. This is challenging, because the hands and body need to look natural w.r.t. each other, the grasped object, as well as the…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…

We propose a physics-based method for synthesizing dexterous hand-object interactions in a full-body setting. While recent advancements have addressed specific facets of human-object interactions, a comprehensive physics-based approach…

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…

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…

Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…

Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also…

Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable…

Though robotic dexterous manipulation has progressed substantially recently, challenges like in-hand occlusion still necessitate fine-grained tactile perception, leading to the integration of more tactile sensors into robotic hands.…

Robust grasping in cluttered environments remains an open challenge in robotics. While benchmark datasets have significantly advanced deep learning methods, they mainly focus on simplistic scenes with light occlusion and insufficient…

Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the…

Advancing robotic grasping and manipulation requires the ability to test algorithms and/or train learning models on large numbers of grasps. Towards the goal of more advanced grasping, we present the Grasp Reset Mechanism (GRM), a fully…

Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…

Tactile and kinesthetic perceptions are crucial for human dexterous manipulation, enabling reliable grasping of objects via proprioceptive sensorimotor integration. For robotic hands, even though acquiring such tactile and kinesthetic…

Dexterous grasp synthesis must jointly satisfy functional intent and physical feasibility, yet existing pipelines often decouple semantic grounding from refinement, yielding unstable or non-functional contacts under object and pose…

Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…

Synthesizing high-quality dexterous grasps is a fundamental challenge in robot manipulation, requiring adherence to diversity, kinematic feasibility (valid hand-object contact without penetration), and dynamic stability (secure…

Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing methods are either constrained to narrow…