4 papers · 1 filter
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…
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…