相关论文: GraspMolmo: Generalizable Task-Oriented Grasping v…

Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to the challenges of collecting effective training data and…

During the execution of handling processes in manufacturing, it is difficult to measure the process forces with state-of-the-art gripper systems since they usually lack integrated sensors. Thus, the exact state of the gripped object and the…

Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

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…

Robots assisting us in environments such as factories or homes must learn to make use of objects as tools to perform tasks, for instance using a tray to carry objects. We consider the problem of learning commonsense knowledge of when a tool…

Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…

We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…

Grasping manipulation is a fundamental mode for human interaction with daily life objects. The synthesis of grasping motion is also greatly demanded in many applications such as animation and robotics. In objects grasping research field,…

In recent years, as robotics has advanced, human-robot collaboration has gained increasing importance. However, current robots struggle to fully and accurately interpret human intentions from voice commands alone. Traditional gripper and…

Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…

Imitation learning for robotic grasping is often plagued by the multimodal problem: when a scene contains multiple valid targets, demonstrations of grasping different objects create conflicting training signals. Standard imitation learning…

Consider the scenario where a human cleans a table and a robot observing the scene is instructed with the task "Remove the cloth using which I wiped the table". Instruction following with temporal reasoning requires the robot to identify…

Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping…

Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

Multi-modal large language models have demonstrated impressive performance across various tasks in different modalities. However, existing multi-modal models primarily emphasize capturing global information within each modality while…

Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…

Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…

We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…