5 papers
Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface
Andrew Nguyen, Yonghyeon Lee, Sangbae Kim
Dexterous grasping requires deciding where to grasp, reaching the target, and maintaining stable contact. We connect these stages through a compact three-point interface that separ…
Learning Reactive Dexterous Grasping via Hierarchical Task-Space RL Planning and Joint-Space QP Control
Ho Jae Lee, Yonghyeon Lee, Alexander Alexiev +3
In this work, we propose a hybrid hierarchical control framework for reactive dexterous grasping that explicitly decouples high-level spatial intent from low-level joint execution.…
Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers
Tzu-Yuan Lin, Ho Jae Lee, Kevin Doherty +2
We present Point2Pose, a model-free method for causal 6D pose tracking of multiple rigid objects from monocular RGB-D video. Initialized only from sparse image points on the object…
High-Bandwidth Tactile-Reactive Control for Grasp Adjustment
Yonghyeon Lee, Tzu-Yuan Lin, Alexander Alexiev +1
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty i…
Hierarchical Reactive Grasping via Task-Space Velocity Fields and Joint-Space Quadratic Programming
Yonghyeon Lee, Tzu-Yuan Lin, Alexander Alexiev +1
We present a fast and reactive grasping framework that combines task-space velocity fields with joint-space Quadratic Program (QP) in a hierarchical structure. Reactive, collision-…