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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…
cs.RO2024
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
Jiangran Lyu, Yuxing Chen, Tao Du +4
This paper tackles the challenging robotic task of generalizable paper cutting using scissors. In this task, scissors attached to a robot arm are driven to accurately cut curves dr…