Taco: Benchmarking generalizable bimanual tool-action-object understanding

Y Liu, H Yang, X Si, L Liu, Z Li… - Proceedings of the …, 2024 - openaccess.thecvf.com
Humans commonly work with multiple objects in daily life and can intuitively transfer
manipulation skills to novel objects by understanding object functional regularities. However …

ArtiGrasp: Physically plausible synthesis of bi-manual dexterous grasping and articulation

H Zhang, S Christen, Z Fan, L Zheng… - … Conference on 3D …, 2024 - ieeexplore.ieee.org
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 …

GraspXL: Generating Grasping Motions for Diverse Objects at Scale

H Zhang, S Christen, Z Fan, O Hilliges… - arXiv preprint arXiv …, 2024 - arxiv.org
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 …

ViViDex: Learning Vision-based Dexterous Manipulation from Human Videos

Z Chen, S Chen, C Schmid, I Laptev - arXiv preprint arXiv:2404.15709, 2024 - arxiv.org
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 …

InterRep: A Visual Interaction Representation for Robotic Grasping

Y Cui, Q Ye, Q Liu, A Chen, G Li… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Recently, pre-trained vision models have gained significant attention in motor control,
showcasing impressive performance across diverse robotic learning tasks. While previous …

CAMInterHand: Cooperative Attention for Multi-View Interactive Hand Pose and Mesh Reconstruction

G Han, Q Ye, A Chen, J Chen - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Interactive hand mesh reconstruction from singleview images poses a significant challenge
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

Z Wei, Z Xu, J Guo, Y Hou, C Gao, Z Cai, J Luo… - arXiv preprint arXiv …, 2024 - arxiv.org
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 …

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 …

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 …

[PDF][PDF] D (R, O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping

Z Wei, Z Xu, J Guo, Y Hou, C Gao, Z Cai, J Luo… - arXiv e …, 2024 - researchgate.net
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) …