6 papers
GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping
Beining Han, Yu-Wei Chao, Erwin Coumans +5
We study cross-embodiment 6-DOF robot grasping. Unlike prior works, we require the model not only to generalize to novel objects / scenes but also to novel gripper morphologies and…
Procedural Generation of Articulated Simulation-Ready Assets
Abhishek Joshi, Beining Han, Jack Nugent +12
We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 c…
Evaluating Robustness of Monocular Depth Estimation with Procedural Scene Perturbations
Jack Nugent, Siyang Wu, Zeyu Ma +7
Recent years have witnessed substantial progress on monocular depth estimation, particularly as measured by the success of large models on standard benchmarks. However, performance…
AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation
Meenal Parakh, Alexandre Kirchmeyer, Beining Han +1
Generalizing control policies to novel embodiments remains a fundamental challenge in enabling scalable and transferable learning in robotics. While prior works have explored this…
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks
Beining Han, Abhishek Joshi, Jia Deng
Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high dura…
FetchBench: A Simulation Benchmark for Robot Fetching
Beining Han, Meenal Parakh, Derek Geng +3
Fetching, which includes approaching, grasping, and retrieving, is a critical challenge for robot manipulation tasks. Existing methods primarily focus on table-top scenarios, which…