4 papers
AnchorHEC: Targetless Hand-Eye Calibration of Wrist and Fixed Cameras
Guebin Hwang, Taeyeop Lee, Yeonseo Lee +2
Recent robot systems combine wrist and fixed cameras, requiring camera-to-robot transforms for both. Most hand-eye calibration methods rely on targets or robot-body observations. S…
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…
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…
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…