3 papers
cs.RO2025
GRITS: A Spillage-Aware Guided Diffusion Policy for Robot Food Scooping Tasks
Yen-Ling Tai, Yi-Ru Yang, Kuan-Ting Yu +2
Robotic food scooping is a critical manipulation skill for food preparation and service robots. However, existing robot learning algorithms, especially learn-from-demonstration met…
cs.CV2025
Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffusers
An-Lun Liu, Yu-Wei Chao, Yi-Ting Chen
In this paper, we study task-oriented human grasp synthesis, a new grasp synthesis task that demands both task and context awareness. At the core of our method is the task-aware co…
cs.RO2023
SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory Generation
Chia-Liang Kuo, Yu-Wei Chao, Yi-Ting Chen
We study the problem of hanging a wide range of grasped objects on diverse supporting items. Hanging objects is a ubiquitous task that is encountered in numerous aspects of our eve…