9 citations · 19 across the 13 of their papers we have counts for
9 papers · 1 filter
GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping
Pengwei Xie, Siang Chen, Qianrun Chen +5
Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks,…
Efficient End-to-End 6-Dof Grasp Detection Framework for Edge Devices with Hierarchical Heatmaps and Feature Propagation
Kaiqin Yang, Yixiang Dai, Guijin Wang +1
6-DoF grasp detection is critically important for the advancement of intelligent embodied systems, as it provides feasible robot poses for object grasping. Various methods have bee…
Diffusion-Based Depth Inpainting for Transparent and Reflective Objects
Tianyu Sun, Dingchang Hu, Yixiang Dai +1
Transparent and reflective objects, which are common in our everyday lives, present a significant challenge to 3D imaging techniques due to their unique visual and optical properti…
Target-Oriented Object Grasping via Multimodal Human Guidance
Pengwei Xie, Siang Chen, Dingchang Hu +3
In the context of human-robot interaction and collaboration scenarios, robotic grasping still encounters numerous challenges. Traditional grasp detection methods generally analyze…
Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping
Siang Chen, Pengwei Xie, Wei Tang +3
A series of region-based methods succeed in extracting regional features and enhancing grasp detection quality. However, faced with a cluttered scene with potential collision, the…
Part-Guided 3D RL for Sim2Real Articulated Object Manipulation
Pengwei Xie, Rui Chen, Siang Chen +6
Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual afforda…
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation
Junli Ren, Yikai Liu, Yingru Dai +2
Legged navigation is typically examined within open-world, off-road, and challenging environments. In these scenarios, estimating external disturbances requires a complex synthesis…
Category-Agnostic Pose Estimation for Point Clouds
Bowen Liu, Wei Liu, Siang Chen +2
The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and…
Rethinking 6-Dof Grasp Detection: A Flexible Framework for High-Quality Grasping
Pengwei Xie, Siang Chen, Wei Tang +3
Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic…