3 papers
cs.CV2026
Iris-3B: Going Beyond the Latent with Pixel-Space Diffusion Training, Conversion and Fine-Tuning
Hanqiu Li Cai, Chema Garabito
Pixel-space diffusion models avoid the lossy VAE of latent models, which suggests an advantage on downstream tasks where fine-grained detail matters. We test this claim along both…
cs.RO2026
GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation
Yeonseo Lee, Taeyeop Lee, Hyosup Shin +2
Dexterous grasp generation across robot hands is challenging because hands differ in kinematic topology, actuation dimensions, and native command spaces. We introduce GraspGraphNet…
cs.RO2025
XGrasp: Gripper-Aware Grasp Detection with Multi-Gripper Data Generation
Yeonseo Lee, Jungwook Mun, Hyosup Shin +4
Real-world robotic systems frequently require diverse end-effectors for different tasks, however most existing grasp detection methods are optimized for a single gripper type, dema…