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cs.RO2025
SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation
Zekun Qi, Wenyao Zhang, Yufei Ding +15
While spatial reasoning has made progress in object localization relationships, it often overlooks object orientation-a key factor in 6-DoF fine-grained manipulation. Traditional p…
cs.RO2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
Haoran Geng, Feishi Wang, Songlin Wei +34
Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges i…
cs.RO2024
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
Jialiang Zhang, Haoran Liu, Danshi Li +5
Grasping in cluttered scenes remains highly challenging for dexterous hands due to the scarcity of data. To address this problem, we present a large-scale synthetic benchmark, enco…