3 papers
cs.RO2026
Steer2Grasp: Inference-Time Embodiment-Aware Steering for Diverse Physically Feasible Grasp Diffusion
Vignesh Vembar, Ayush Kaura, A Padmaprabhan +5
Current grasp diffusion models provide rich priors for generation, yet their object-centric approach can violate the kinematic and collision constraints imposed by the embodiment a…
cs.RO2026
PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views
Ayush Kaura, Vignesh Vembar, Md Faizal Karim +2
Dual-arm robotic grasping is essential for manipulating large, heavy, and geometrically complex objects that cannot be reliably handled using a single manipulator. These large obje…
cs.RO2026
Anticipate, Adapt, Act: A Hybrid Framework for Task Planning
Nabanita Dash, Ayush Kaura, Shivam Singh +4
Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impres…