相关论文: GenDexHand: Generative Simulation for Dexterous Ha…

Deep generative models have various content creation applications such as graphic design, e-commerce, and virtual Try-on. However, current works mainly focus on synthesizing realistic visual outputs, often ignoring other sensory modalities,…

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…

Universal grasping with multi-fingered dexterous hands is a fundamental challenge in robotic manipulation. While recent approaches successfully learn closed-loop grasping policies using reinforcement learning (RL), the inherent difficulty…

We present a generative model to synthesize 3D shapes as sets of handles -- lightweight proxies that approximate the original 3D shape -- for applications in interactive editing, shape parsing, and building compact 3D representations. Our…

Constructing a physically realistic and accurately scaled simulated 3D world is crucial for the training and evaluation of embodied intelligence tasks. The diversity, realism, low cost accessibility and affordability of 3D data assets are…

Recent advances in multi-fingered robotic grasping have enabled fast 6-Degrees-Of-Freedom (DOF) single object grasping. Multi-finger grasping in cluttered scenes, on the other hand, remains mostly unexplored due to the added difficulty of…

This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these…

Dexterous hands exhibit significant potential for complex real-world grasping tasks. While recent studies have primarily focused on learning policies for specific robotic hands, the development of a universal policy that controls diverse…

We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

Articulated objects are ubiquitous in daily life. In this paper, we present DexSim2Real$^{2}$, a novel framework for goal-conditioned articulated object manipulation. The core of our framework is constructing an explicit world model of…

In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing and sequencing contact locations for in-hand manipulation,…

Dexterous robotic manipulation in unstructured environments can aid in everyday tasks such as cleaning and caretaking. Anthropomorphic robotic hands are highly dexterous and theoretically well-suited for working in human domains, but their…

Multi-hand semantic grasp generation aims to generate feasible and semantically appropriate grasp poses for different robotic hands based on natural language instructions. Although the task is highly valuable, due to the lack of multihand…

Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…

Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation through these methods remains a pivotal challenge, which is…

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

Dexterous manipulation tasks involving contact-rich interactions pose a significant challenge for both model-based control systems and imitation learning algorithms. The complexity arises from the need for multi-fingered robotic hands to…

Text-to-image generation models have achieved remarkable advancements in recent years, aiming to produce realistic images from textual descriptions. However, these models often struggle with generating anatomically accurate representations…