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cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
Multi-Keypoint Affordance Representation for Functional Dexterous Grasping
Fan Yang, Dongsheng Luo, Wenrui Chen +5
Functional dexterous grasping requires precise hand-object interaction, going beyond simple gripping. Existing affordance-based methods primarily predict coarse interaction regions…