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cs.RO2025
HOGraspFlow: Taxonomy-Aware Hand-Object Retargeting for Multi-Modal SE(3) Grasp Generation
Yitian Shi, Zicheng Guo, Rosa Wolf +2
We propose Hand-Object\emph{(HO)GraspFlow}, an affordance-centric approach that retargets a single RGB with hand-object interaction (HOI) into multi-modal executable parallel jaw g…
cs.RO2025★ 7 cited
Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
Edgar Welte, Rania Rayyes
Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are u…
cs.RO2025
VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibility
Yitian Shi, Di Wen, Guanqi Chen +5
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveragi…