3 papers
cs.RO2025
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…
cs.RO2024
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…
cs.RO2024
RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments
Yuxing Chen, Songlin Wei, Bowen Xiao +4
For the task of hanging clothes, learning how to insert a hanger into a garment is a crucial step, but has rarely been explored in robotics. In this work, we address the problem of…