6 citations · 18 across the 17 of their papers we have counts for
8 papers · 1 filter
Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge
Hengxu Yan, Haoshu Fang, Cewu Lu
Dexterous manipulation has received considerable attention in recent research. Predominantly, existing studies have concentrated on reinforcement learning methods to address the su…
FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation
Zihao He, Hongjie Fang, Jingjing Chen +2
Contact-rich tasks present significant challenges for robotic manipulation policies due to the complex dynamics of contact and the need for precise control. Vision-based policies o…
CAGE: Causal Attention Enables Data-Efficient Generalizable Robotic Manipulation
Shangning Xia, Hongjie Fang, Cewu Lu +1
Generalization in robotic manipulation remains a critical challenge, particularly when scaling to new environments with limited demonstrations. This paper introduces CAGE, a novel…
Towards Effective Utilization of Mixed-Quality Demonstrations in Robotic Manipulation via Segment-Level Selection and Optimization
Jingjing Chen, Hongjie Fang, Hao-Shu Fang +1
Data is crucial for robotic manipulation, as it underpins the development of robotic systems for complex tasks. While high-quality, diverse datasets enhance the performance and ada…
A Surprisingly Efficient Representation for Multi-Finger Grasping
Hengxu Yan, Hao-Shu Fang, Cewu Lu
The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar…
Graspness Discovery in Clutters for Fast and Accurate Grasp Detection
Chenxi Wang, Hao-Shu Fang, Minghao Gou +3
Efficient and robust grasp pose detection is vital for robotic manipulation. For general 6 DoF grasping, conventional methods treat all points in a scene equally and usually adopt…