3 papers
cs.RO2026
Arm-Aware Guided Dexterous Grasp Generation with Arm-Agnostic Grasp Models
Yongyi Jia, Yongpeng Jiang, Kangchen Lv +3
Dexterous grasp generation that considers arm-related constraints is crucial in real-world scenarios involving arm environment collision avoidance, workspace boundary grasps, and c…
cs.RO2026
HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +4
Dexterous grasping across diverse object scales requires contact modes ranging from two-finger pinches to bimanual grasps. Existing dexterous grasp synthesis methods reduce the hig…
cs.RO2026
BiKC+: Bimanual Hierarchical Imitation with Keypose-Conditioned Coordination-Aware Consistency Policies
Hang Xu, Yizhou Chen, Dongjie Yu +2
Robots are essential in industrial manufacturing due to their reliability and efficiency. They excel in performing simple and repetitive unimanual tasks but still face challenges w…