4 papers · 1 filter
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,…