1 citations · 2 across the 8 of their papers we have counts for
9 papers
HiFun: a Hierarchical Framework for Efficient Functional Dexterous Manipulation Learning
Linyi Huang, Guowei Huai, Weibin Liu +5
While multi-fingered dexterous robot hands have the potential to provide human-level dexterity, using them for functional manipulation remains difficult because task success depend…
UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis
Hui Zhang, Julian Ferchow, Jie Song +1
Many dexterous manipulation tasks require the object to remain securely held throughout the interaction. From the perspective of hand-object relational motion, such manipulation co…
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4
Loco-manipulation has recently shown promising capabilities; however, achieving high-precision control, managing the high-dimensional action space induced by many degrees of freedo…
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14
Despite the success of vision-based generalist robotic policies, existing tactile-based policies remain tied to fixed embodiments and sensor setups. This is because tactile signals…
Learning Generalizable Hand-Object Tracking from Synthetic Demonstrations
Yinhuai Wang, Runyi Yu, Hok Wai Tsui +9
We present a system for learning generalizable hand-object tracking controllers purely from synthetic data, without requiring any human demonstrations. Our approach makes two key c…
RobustDexGrasp: Robust Dexterous Grasping of General Objects
Hui Zhang, Zijian Wu, Linyi Huang +2
The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-vi…
FunGrasp: Functional Grasping for Diverse Dexterous Hands
Linyi Huang, Hui Zhang, Zijian Wu +2
Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enab…
GraspXL: Generating Grasping Motions for Diverse Objects at Scale
Hui Zhang, Sammy Christen, Zicong Fan +2
Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly,…
ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation
Hui Zhang, Sammy Christen, Zicong Fan +4
We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the g…