5 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…
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…
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…