相关论文: GraspMolmo: Generalizable Task-Oriented Grasping v…
Task-aware robotic grasping is a challenging problem that requires the integration of semantic understanding and geometric reasoning. This paper proposes a novel framework that leverages Large Language Models (LLMs) and Quality Diversity…
In the context of human-robot interaction and collaboration scenarios, robotic grasping still encounters numerous challenges. Traditional grasp detection methods generally analyze the entire scene to predict grasps, leading to redundancy…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…
Robust grasping in cluttered, unstructured environments remains challenging for mobile legged manipulators due to occlusions that lead to partial observations, unreliable depth estimates, and the need for collision-free, execution-feasible…
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…
As large models gain traction, vision-language-action (VLA) systems are enabling robots to tackle increasingly complex tasks. However, limited by the difficulty of data collection, progress has mainly focused on controlling simple gripper…
Grasp detection is a fundamental robotic task critical to the success of many industrial applications. However, current language-driven models for this task often struggle with cluttered images, lengthy textual descriptions, or slow…
Despite a widespread success in various applications, large language models (LLMs) often stumble when tackling basic physical reasoning or executing robotics tasks, due to a lack of direct experience with the physical nuances of the real…
Pretrained Language Models (PLMs) benefit from external knowledge stored in graph structures for various downstream tasks. However, bridging the modality gap between graph structures and text remains a significant challenge. Traditional…
Recent advances in predicting 6D grasp poses from a single depth image have led to promising performance in robotic grasping. However, previous grasping models face challenges in cluttered environments where nearby objects impact the target…
Grasping objects successfully from a single-view camera is crucial in many robot manipulation tasks. An approach to solve this problem is to leverage simulation to create large datasets of pairs of objects and grasp poses, and then learn a…
This paper presents a real-time, object-independent grasp synthesis method which can be used for closed-loop grasping. Our proposed Generative Grasping Convolutional Neural Network (GG-CNN) predicts the quality and pose of grasps at every…
Robotic grasping traditionally relies on object features or shape information for learning new or applying already learned grasps. We argue however that such a strong reliance on object geometric information renders grasping and grasp…
The hand plays a pivotal role in human ability to grasp and manipulate objects and controllable grasp synthesis is the key for successfully performing downstream tasks. Existing methods that use human intention or task-level language as…
Training task-oriented dialogue systems is both costly and time-consuming, due to the need for high-quality datasets encompassing diverse intents. Traditional methods depend on extensive human annotation, while recent advancements leverage…
For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. To advance next-generation prosthetic hand control design, it is crucial to address current shortcomings in robustness…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
A representation gap exists between grasp synthesis for rigid and soft grippers. Anygrasp [1] and many other grasp synthesis methods are designed for rigid parallel grippers, and adapting them to soft grippers often fails to capture their…
To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle with visually defined parts, occlusions, and unseen objects.…