Taco: Benchmarking generalizable bimanual tool-action-object understanding
Humans commonly work with multiple objects in daily life and can intuitively transfer
manipulation skills to novel objects by understanding object functional regularities. However …
manipulation skills to novel objects by understanding object functional regularities. However …
ArtiGrasp: Physically plausible synthesis of bi-manual dexterous grasping and articulation
We present ArtiGrasp, a novel method to synthesize bimanual hand-object interactions that
include grasping and articulation. This task is challenging due to the diversity of the global …
include grasping and articulation. This task is challenging due to the diversity of the global …
GraspXL: Generating Grasping Motions for Diverse Objects at Scale
Human hands possess the dexterity to interact with diverse objects such as grasping specific
parts of the objects and/or approaching them from desired directions. More importantly …
parts of the objects and/or approaching them from desired directions. More importantly …
ViViDex: Learning Vision-based Dexterous Manipulation from Human Videos
In this work, we aim to learn a unified vision-based policy for a multi-fingered robot hand to
manipulate different objects in diverse poses. Though prior work has demonstrated that …
manipulate different objects in diverse poses. Though prior work has demonstrated that …
InterRep: A Visual Interaction Representation for Robotic Grasping
Recently, pre-trained vision models have gained significant attention in motor control,
showcasing impressive performance across diverse robotic learning tasks. While previous …
showcasing impressive performance across diverse robotic learning tasks. While previous …
CAMInterHand: Cooperative Attention for Multi-View Interactive Hand Pose and Mesh Reconstruction
Interactive hand mesh reconstruction from singleview images poses a significant challenge
with the severe occlusion and depth ambiguity inherent in interactive hand gestures. Recent …
with the severe occlusion and depth ambiguity inherent in interactive hand gestures. Recent …
Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping
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 …
precise interaction between robotic hands and objects. In this paper, we present $\mathcal …
Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mapping
L Zhang, K Bai, G Huang, Z Chen, J Zhang - arXiv preprint arXiv …, 2024 - arxiv.org
The integration of optimization method and generative models has significantly advanced
dexterous manipulation techniques for five-fingered hand grasping. Yet, the application of …
dexterous manipulation techniques for five-fingered hand grasping. Yet, the application of …
Adaptive Motion Planning for Multi-fingered Functional Grasp via Force Feedback
D Tian, X Lin, Y Sun - arXiv preprint arXiv:2401.11977, 2024 - arxiv.org
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is
especially challenging during the dynamic, continuous hand-object interactions. Closed …
especially challenging during the dynamic, continuous hand-object interactions. Closed …
[PDF][PDF] D (R, O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring
precise interaction between robotic hands and objects. In this paper, we present D (R, O) …
precise interaction between robotic hands and objects. In this paper, we present D (R, O) …