3 papers
cs.RO2026
CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learning
Julien Merand, Boris Meden, Liming Chen +1
Current dexterous grasp planners primarily optimize for physical stability, focusing on whether an object can be grasped rather than how it should be grasped to support downstream…
cs.RO2026
GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation
Julien Merand, Boris Meden, Mathieu Grossard +1
Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to generalize to new objects because they are trained on limited, object-…
cs.CV2025
Corr2Distrib: Making Ambiguous Correspondences an Ally to Predict Reliable 6D Pose Distributions
Asma Brazi, Boris Meden, Fabrice Mayran de Chamisso +2
We introduce Corr2Distrib, the first correspondence-based method which estimates a 6D camera pose distribution from an RGB image, explaining the observations. Indeed, symmetries an…