6 papers · 1 filter
ConGraspXL: Controllable Constraint-Conditioned Dexterous Grasping Motion Synthesis
Hui Zhang, Mirko Meboldt, Jie Song
Dexterous grasping is usually conducted for specific tasks, leading to heterogeneous constraints such as specific approach directions, desired contact regions, specified wrist traj…
Assembling Two Parts in One Hand
Liuao Pei, Tianyue Wu, Hui Zhang +2
A hallmark of human dexterity is the cooperative use of fingers, where different fingers take on distinct yet coordinated roles to accomplish fine manipu- lation, such as capping a…
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…
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…