10 papers
Learning Fine-Grained Correspondence with Cross-Perspective Perception for Open-Vocabulary 6D Object Pose Estimation
Yu Qin, Shimeng Fan, Fan Yang +5
Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing appro…
DexPIE: Stable Dexterous Policy Improvement from Real-World Experience
Ruizhe Liao, Wenrui Chen, Liangji Zeng +4
Dexterous manipulation presents substantial challenges for imitation learning due to its high-dimensional action space and complex contact-rich dynamics. Policies trained purely fr…
Symmetry-Aware 9D Pose Estimation with Sim(3)-Consistent Feature and Spherical Inception Convolution
Panfei Cheng, Hongshan Yu, Wenrui Chen +3
Object pose estimation is a fundamental problem for an agent system to perceive or manipulate objects in images or videos. However, current instance-level methods struggle with gen…
BLaDA: Bridging Language to Functional Dexterous Actions within 3DGS Fields
Fan Yang, Wenrui Chen, Guorun Yan +7
In unstructured environments, functional dexterous grasping calls for the tight integration of semantic understanding, precise 3D functional localization, and physically interpreta…
TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Refinement
Wanjun Jia, Kang Li, Fan Yang +7
The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and…
UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands
Haoran Lin, Wenrui Chen, Xianchi Chen +7
Dexterous grasp datasets are vital for embodied intelligence, but mostly emphasize grasp stability, ignoring functional grasps needed for tasks like opening bottle caps or holding…