9 papers
Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning
Yixin Zheng, Jiangran Lyu, Yifan Zhang +8
Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challengin…
BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes
Mu Lin, Yi-Lin Wei, Jiaxuan Chen +7
Bimanual dexterous grasping is a fundamental and promising area in robotics, yet its progress is constrained by the lack of comprehensive datasets and powerful generation models. I…
GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization
Liangwang Ruan, Jiayi Chen, He Wang +1
Synthesizing high-quality dexterous grasps is a fundamental challenge in robot manipulation, requiring adherence to diversity, kinematic feasibility (valid hand-object contact with…
TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
Yubin Ke, Jiayi Chen, Hang Lv +2
Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This wor…
Robust Differentiable Collision Detection for General Objects
Jiayi Chen, Wei Zhao, Liangwang Ruan +2
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the cl…
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
Jiayi Chen, Yubin Ke, Lin Peng +1
Generalizable dexterous grasping with suitable grasp types is a fundamental skill for intelligent robots. Developing such skills requires a large-scale and high-quality dataset tha…