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cs.RO2025
Multi-Keypoint Affordance Representation for Functional Dexterous Grasping
Fan Yang, Dongsheng Luo, Wenrui Chen +5
Functional dexterous grasping requires precise hand-object interaction, going beyond simple gripping. Existing affordance-based methods primarily predict coarse interaction regions…
cs.RO2024★ 1 cited
Learning Granularity-Aware Affordances from Human-Object Interaction for Tool-Based Functional Dexterous Grasping
Fan Yang, Wenrui Chen, Kailun Yang +5
To enable robots to use tools, the initial step is teaching robots to employ dexterous gestures for touching specific areas precisely where tasks are performed. Affordance features…