3 papers
cs.RO2026
A Hybrid Optimization Framework for Grasp Synthesis under Partial Observations
Wenzheng Zhang, Fahira Afzal Maken, Tin Lai +1
We propose a hybrid grasp synthesis framework that combines a learning-based Energy-Based Model (EBM) with an analytical Iterative Closest Point (ICP) method to generate robust gra…
cs.RO2025
Deformable Cluster Manipulation via Whole-Arm Policy Learning
Jayadeep Jacob, Wenzheng Zhang, Houston Warren +3
Manipulating clusters of deformable objects presents a substantial challenge with widespread applicability, but requires contact-rich whole-arm interactions. A potential solution m…
cs.RO2024
Grasping by parallel shape matching
Wenzheng Zhang, Fahira Afzal Maken, Tin Lai +1
Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long opti…