10 papers
Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution
Hanyi Zhang, Khang Nguyen, Charith Munasinghe +10
The paper introduces GCA-Bench, a new benchmark for evaluating robotic grasping in complex, multi-step scenarios that require scene-level reasoning and semantic constraints, and as…
RoboDesign1M: A Large-scale Dataset for Robot Design Understanding
Tri Le, Toan Nguyen, Quang Tran +6
The paper presents RoboDesign1M, a million‑sample multimodal dataset of robot designs collected from scientific literature, and shows its usefulness for tasks such as design image…
Probe-to-Grasp Manipulation Using Self-Sensing Pneumatic Variable-Stiffness Joints
Ngoc Duy Tran, Yeman Fan, Feng Dai +5
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an op…
MobiDock: Design and Control of A Modular Self Reconfigurable Bimanual Mobile Manipulator via Robotic Docking
Xuan-Thuan Nguyen, Khac Nam Nguyen, Ngoc Duy Tran +4
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study propos…
Soft Rigid Hybrid Gripper with Inflatable Silicone Pockets for Tunable Frictional Grasping
Hoang Hiep Ly, Cong-Nhat Nguyen, Doan-Quang Tran +6
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically r…
MDToC: Metacognitive Dynamic Tree of Concepts for Boosting Mathematical Problem-Solving of Large Language Models
Tung Duong Ta, Tim Oates, Thien Van Luong +2
Despite advances in mathematical reasoning capabilities, Large Language Models (LLMs) still struggle with calculation verification when using established prompting techniques. We p…