3 papers
cs.RO2025
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
Haofei Lu, Yifei Dong, Zehang Weng +3
We introduce the sequential multi-object robotic grasp sampling algorithm SeqGrasp that can robustly synthesize stable grasps on diverse objects using the robotic hand's partial De…
cs.RO2024
DexDiffuser: Generating Dexterous Grasps with Diffusion Models
Zehang Weng, Haofei Lu, Danica Kragic +1
We introduce DexDiffuser, a novel dexterous grasping method that generates, evaluates, and refines grasps on partial object point clouds. DexDiffuser includes the conditional diffu…
cs.CV2024
Dessie: Disentanglement for Articulated 3D Horse Shape and Pose Estimation from Images
Ci Li, Yi Yang, Zehang Weng +3
In recent years, 3D parametric animal models have been developed to aid in estimating 3D shape and pose from images and video. While progress has been made for humans, it's more ch…