9 papers
CADGrasp: Learning Contact and Collision Aware General Dexterous Grasping in Cluttered Scenes
Jiyao Zhang, Zhiyuan Ma, Tianhao Wu +2
Dexterous grasping in cluttered environments presents substantial challenges due to the high degrees of freedom of dexterous hands, occlusion, and potential collisions arising from…
SpikeGrasp: A Benchmark for 6-DoF Grasp Pose Detection from Stereo Spike Streams
Zhuoheng Gao, Jiyao Zhang, Zhiyong Xie +5
Most robotic grasping systems rely on converting sensor data into explicit 3D point clouds, which is a computational step not found in biological intelligence. This paper explores…
CorrectNav: Self-Correction Flywheel Empowers Vision-Language-Action Navigation Model
Zhuoyuan Yu, Yuxing Long, Zihan Yang +4
Existing vision-and-language navigation models often deviate from the correct trajectory when executing instructions. However, these models lack effective error correction capabili…
CheckManual: A New Challenge and Benchmark for Manual-based Appliance Manipulation
Yuxing Long, Jiyao Zhang, Mingjie Pan +3
Correct use of electrical appliances has significantly improved human life quality. Unlike simple tools that can be manipulated with common sense, different parts of electrical app…
SpikeStereoNet: A Brain-Inspired Framework for Stereo Depth Estimation from Spike Streams
Zhuoheng Gao, Yihao Li, Jiyao Zhang +7
Conventional frame-based cameras often struggle with stereo depth estimation in rapidly changing scenes. In contrast, bio-inspired spike cameras emit asynchronous events at microse…
Foundation Feature-Driven Online End-Effector Pose Estimation: A Marker-Free and Learning-Free Approach
Tianshu Wu, Jiyao Zhang, Shiqian Liang +2
Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, l…
OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints
Mingjie Pan, Jiyao Zhang, Tianshu Wu +3
The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level co…
Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Tracking
Jiyao Zhang, Weiyao Huang, Bo Peng +5
6D Object Pose Estimation is a crucial yet challenging task in computer vision, suffering from a significant lack of large-scale datasets. This scarcity impedes comprehensive evalu…
RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation
Yang Tian, Jiyao Zhang, Guowei Huang +4
Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration.However, the introduction…