3 papers
cs.RO2026
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…
cs.RO2025
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
Zeyuan Chen, Qiyang Yan, Yuanpei Chen +6
Dexterous grasping in cluttered scenes presents significant challenges due to diverse object geometries, occlusions, and potential collisions. Existing methods primarily focus on s…
cs.RO2025
Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation
Jinzhou Li, Tianhao Wu, Jiyao Zhang +6
Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging.…