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cs.RO2026
Beyond Point-Attached Semantics: Stable Object-Centric Semantic Fields for Robust Manipulation
Zheng Sun, Lerong Zhang, Zhihao Li +3
Robotic manipulation often requires identifying functional parts, such as a mug handle or a hammer head. However, features attached to observed 3D points can vary with viewpoint an…
cs.RO2023
SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer
Junjia Liu, Zhihao Li, Wanyu Lin +3
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape chara…