3 citations · 6 across the 13 of their papers we have counts for
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Don't Let Your Robot be Harmful: Responsible Robotic Manipulation via Safety-as-Policy
Minheng Ni, Lei Zhang, Zihan Chen +4
Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present respon…
ClearDepth: Enhanced Stereo Perception of Transparent Objects for Robotic Manipulation
Kaixin Bai, Huajian Zeng, Lei Zhang +4
Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transpare…
Close the Sim2real Gap via Physically-based Structured Light Synthetic Data Simulation
Kaixin Bai, Lei Zhang, Zhaopeng Chen +2
Despite the substantial progress in deep learning, its adoption in industrial robotics projects remains limited, primarily due to challenges in data acquisition and labeling. Previ…
ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mapping
Lei Zhang, Kaixin Bai, Guowen Huang +4
The deep learning models has significantly advanced dexterous manipulation techniques for multi-fingered hand grasping. However, the contact information-guided grasping in cluttere…
ToolEENet: Tool Affordance 6D Pose Estimation
Yunlong Wang, Lei Zhang, Yuyang Tu +4
The exploration of robotic dexterous hands utilizing tools has recently attracted considerable attention. A significant challenge in this field is the precise awareness of a tool's…
A Collision-Aware Cable Grasping Method in Cluttered Environment
Lei Zhang, Kaixin Bai, Qiang Li +2
We introduce a Cable Grasping-Convolutional Neural Network designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an ext…