5 papers
Gripper-aware Vision Language Action Models
Hanyi Zhang, Zihong Luo, Tianyu Li +16
Vision language action models (VLAs) have advanced general purpose robotic grasping and manipulation by enabling robots to interpret visual observations and natural language instru…
Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution
Hanyi Zhang, Khang Nguyen, Charith Munasinghe +10
Robust robotic grasping remains a fundamental challenge for complex real-world applications. Recent advances in large-scale models demonstrate promising capabilities for reasoning…
AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers
Nghia Vu, Tuong Do, Khang Nguyen +8
Affordance learning is a complex challenge in many applications, where existing approaches primarily focus on the geometric structures, visual knowledge, and affordance labels of o…
Probe-to-Grasp Manipulation Using Self-Sensing Pneumatic Variable-Stiffness Joints
Ngoc Duy Tran, Yeman Fan, Feng Dai +5
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an op…
CADKnitter: Compositional CAD Generation from Text and Geometry Guidance
Tri Le, Khang Nguyen, Baoru Huang +2
Computer-aided design (CAD) defines 3D models as compact, precise, and editable representations, making it directly useful for several fields. Recently, CAD generation has been gai…