3 papers
cs.RO2026
Task-oriented grasping for dexterous robots using postural synergies and reinforcement learning
Dimitrios Dimou, José Santos-Victor, Plinio Moreno
In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing me…
cs.CV2025
Estimating Object Physical Properties from RGB-D Vision and Depth Robot Sensors Using Deep Learning
Ricardo Cardoso, Plinio Moreno
Inertial mass plays a crucial role in robotic applications such as object grasping, manipulation, and simulation, providing a strong prior for planning and control. Accurately esti…
cs.RO2025
GRASPLAT: Enabling dexterous grasping through novel view synthesis
Matteo Bortolon, Nuno Ferreira Duarte, Plinio Moreno +3
Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these appro…