4 papers
KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generation
Yuansen Huang, Jiayi Chen, Haoran Liu +6
Generating high-quality dexterous grasps remains challenging for learning-based methods, which often depend on carefully tuned contact losses or costly contact-based test-time refi…
TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
Yubin Ke, Jiayi Chen, Hang Lv +2
Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This wor…
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
Jiayi Chen, Yubin Ke, Lin Peng +1
Generalizable dexterous grasping with suitable grasp types is a fundamental skill for intelligent robots. Developing such skills requires a large-scale and high-quality dataset tha…
BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization
Jiayi Chen, Yubin Ke, He Wang
Robotic dexterous grasping is important for interacting with the environment. To unleash the potential of data-driven models for dexterous grasping, a large-scale, high-quality dat…