Publications (6)
De-anonymization of authors through arXiv submissions during double-blind review
Homanga Bharadhwaj, Dylan Turpin, Animesh Garg +1
In this paper, we investigate the effects of releasing arXiv preprints of papers that are undergoing a double-blind review process. In particular, we ask the following research que…
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
Dylan Turpin, Tao Zhong, Shutong Zhang +8
Multi-finger grasping relies on high quality training data, which is hard to obtain: human data is hard to transfer and synthetic data relies on simplifying assumptions that reduce…
Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priors
Yun-Chun Chen, Haoda Li, Dylan Turpin +2
Learning to autonomously assemble shapes is a crucial skill for many robotic applications. While the majority of existing part assembly methods focus on correctly posing semantic p…
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors
Shutong Zhang, Yi-Ling Qiao, Guanglei Zhu +6
Various heuristic objectives for modeling hand-object interaction have been proposed in past work. However, due to the lack of a cohesive framework, these objectives often possess…
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands
Dylan Turpin, Liquan Wang, Eric Heiden +5
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 produ…
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels
Dylan Turpin, Liquan Wang, Stavros Tsogkas +2
Tool use requires reasoning about the fit between an object's affordances and the demands of a task. Visual affordance learning can benefit from goal-directed interaction experienc…