8 papers
OpenTac: An Open Ecosystem for Customizable, Scalable, and Transferable 3D Tactile Sensing
Ariel Slepyan, Geeta Chandra Raju Bethala, Jiafeng Gu +12
We present OpenTac, a novel sensor and a full-stack ecosystem for tactile skins that are highly customizable, scalable, and readily deployed in downstream robot control and learnin…
Steer2Grasp: Inference-Time Embodiment-Aware Steering for Diverse Physically Feasible Grasp Diffusion
Vignesh Vembar, Ayush Kaura, A Padmaprabhan +5
Current grasp diffusion models provide rich priors for generation, yet their object-centric approach can violate the kinematic and collision constraints imposed by the embodiment a…
PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views
Ayush Kaura, Vignesh Vembar, Md Faizal Karim +2
Dual-arm robotic grasping is essential for manipulating large, heavy, and geometrically complex objects that cannot be reliably handled using a single manipulator. These large obje…
Object Pose and Shape Estimation for Grasping: Does it Work?
Pavan Karke, Kushal Shah, Gaurav Singh +3
The problem of object pose and shape estimation has seen key advancements lately. Encoder-decoder (e.g., SAM3D, LRM, CRISP) and diffusion-based models (e.g., InstantMesh, Zero123,…
DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps
Md Faizal Karim, Vignesh Vembar, Keshab Patra +2
Reliable dual-arm grasping is essential for manipulating large and complex objects but remains a challenging problem due to stability, collision, and generalization requirements. P…
DG16M: A Large-Scale Dataset for Dual-Arm Grasping with Force-Optimized Grasps
Md Faizal Karim, Mohammed Saad Hashmi, Shreya Bollimuntha +4
Dual-arm robotic grasping is crucial for handling large objects that require stable and coordinated manipulation. While single-arm grasping has been extensively studied, datasets t…
DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control
Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi +6
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for comp…
Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation
Gaurav Singh, Sanket Kalwar, Md Faizal Karim +4
Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents…