9 papers
SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity
Hao Wu, Yanzhe Wang, Yu Feng +4
Designing anthropomorphic robotic hands that balance functional dexterity with mechanical simplicity remains a significant challenge. Inspired by human hand synergies, this paper p…
Goal-VLA: Image-Generative VLMs as Object-Centric World Models Empowering Zero-shot Robot Manipulation
Haonan Chen, Jingxiang Guo, Bangjun Wang +7
Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Languag…
AdaptPNP: Integrating Prehensile and Non-Prehensile Skills for Adaptive Robotic Manipulation
Jinxuan Zhu, Chenrui Tie, Xinyi Cao +8
Non-prehensile (NP) manipulation, in which robots alter object states without forming stable grasps (for example, pushing, poking, or sliding), significantly broadens robotic manip…
ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
Jinxuan Zhu, Zihao Yan, Yangyu Xiao +5
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-…
DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments
Lixin Xu, Zixuan Liu, Zhewei Gui +6
Grasping objects in cluttered environments remains a fundamental yet challenging problem in robotic manipulation. While prior works have explored learning-based synergies between p…
Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models
Chenrui Tie, Shengxiang Sun, Jinxuan Zhu +7
Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability rema…