相关论文: GraspMolmo: Generalizable Task-Oriented Grasping v…
Accepted in the ICIP 2025 We present a novel transformer-based framework for whole-body grasping that addresses both pose generation and motion infilling, enabling realistic and stable object interactions. Our pipeline comprises three…
Intent detection, a critical component in task-oriented dialogue (TOD) systems, faces significant challenges in adapting to the rapid influx of integrable tools with complex interrelationships. Existing approaches, such as zero-shot…
We introduce Forecast-aware Gaussian Splatting (Forecast-GS), a predictive 3D representation framework for language-conditioned robotic manipulation. While recent manipulation systems have made progress by grounding language instructions…
We introduce UniGraspTransformer, a universal Transformer-based network for dexterous robotic grasping that simplifies training while enhancing scalability and performance. Unlike prior methods such as UniDexGrasp++, which require complex,…
Graph generation is a fundamental task with broad applications, such as drug discovery. Recently, discrete flow matching-based graph generation, \aka, graph flow model (GFM), has emerged due to its superior performance and flexible…
Visual prediction models are a promising solution for visual-based robotic grasping of cluttered, unknown soft objects. Previous models from the literature are computationally greedy, which limits reproducibility; although some consider…
The study of hand-object interaction requires generating viable grasp poses for high-dimensional multi-finger models, often relying on analytic grasp synthesis which tends to produce brittle and unnatural results. This paper presents…
Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation…
Grasp pose detection in cluttered, real-world environments remains a significant challenge due to noisy and incomplete sensory data combined with complex object geometries. This paper introduces Grasp the Graph 2.0 (GtG 2.0) method, a…
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…
Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…
End-to-end self-supervised models have been proposed for estimating the success of future candidate grasps and video predictive models for generating future observations. However, none have yet studied these two strategies side-by-side for…
Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of object images and grasp labels. However, empirical grasping…
This paper explores SynTOD, a new synthetic data generation approach for developing end-to-end Task-Oriented Dialogue (TOD) Systems capable of handling complex tasks such as intent classification, slot filling, conversational…
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…
Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…
Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…
Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…
Recently, vision-language model (VLM) agents have shown promising progress in open-world tasks, where successful task completion often requires multiple turns of visual perception and action execution. However, existing methods still rely…
One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…