6 papers
Arm-Aware Guided Dexterous Grasp Generation with Arm-Agnostic Grasp Models
Yongyi Jia, Yongpeng Jiang, Kangchen Lv +3
Dexterous grasp generation that considers arm-related constraints is crucial in real-world scenarios involving arm environment collision avoidance, workspace boundary grasps, and c…
HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +4
Dexterous grasping across diverse object scales requires contact modes ranging from two-finger pinches to bimanual grasps. Existing dexterous grasp synthesis methods reduce the hig…
CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +3
While recent research has focused heavily on dexterous grasp pose generation, less attention has been devoted to the execution of planned grasps. Under shape and position uncertain…
Kinematics-Aware Diffusion Policy with Consistent 3D Observation and Action Space for Whole-Arm Robotic Manipulation
Kangchen Lv, Mingrui Yu, Yongyi Jia +2
Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object intera…
Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution
Mingrui Yu, Yongpeng Jiang, Chen Chen +2
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter fo…
Flow-Aware Navigation of Magnetic Micro-Robots in Complex Fluids via PINN-Based Prediction
Yongyi Jia, Shu Miao, Jiayu Wu +3
While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and…