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cs.RO2025
Robust Differentiable Collision Detection for General Objects
Jiayi Chen, Wei Zhao, Liangwang Ruan +2
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the cl…
cs.RO2025★ 1 cited
FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesis
Yuxing Chen, Bowen Xiao, He Wang
Due to the deformability of garments, generating a large amount of high-quality data for robotic garment manipulation tasks is highly challenging. In this paper, we present a synth…
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…