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cs.RO2026
Physics-Aware Object-Centric SE(3) Forecasting for Real-Time Proactive Dynamic Grasping
Yirui Zhou, Hongli Xu, Ying Zheng +2
Proactive dynamic grasping requires robots to predict the future state at which physical contact will occur, rather than reacting to the currently observed object pose. But what fu…
cs.RO2025
FUNCanon: Learning Pose-Aware Action Primitives via Functional Object Canonicalization for Generalizable Robotic Manipulation
Hongli Xu, Lei Zhang, Xiaoyue Hu +7
General-purpose robotic skills from end-to-end demonstrations often leads to task-specific policies that fail to generalize beyond the training distribution. Therefore, we introduc…
cs.RO2024★ 1 cited
ClearDepth: Enhanced Stereo Perception of Transparent Objects for Robotic Manipulation
Kaixin Bai, Huajian Zeng, Lei Zhang +4
Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transpare…