4 papers
Bridging Simulation and Reality: Cross-Domain Transfer with Semantic 2D Gaussian Splatting
Jian Tang, Pu Pang, Haowen Sun +4
Cross-domain transfer in robotic manipulation remains a longstanding challenge due to the significant domain gap between simulated and real-world environments. Existing methods suc…
GES-UniGrasp: A Two-Stage Dexterous Grasping Strategy With Geometry-Based Expert Selection
Fangting Xu, Jilin Zhu, Xiaoming Gu +1
Robust and human-like dexterous grasping of general objects is a critical capability for advancing intelligent robotic manipulation in real-world scenarios. However, existing reinf…
DexDiff: Towards Extrinsic Dexterity Manipulation of Ungraspable Objects in Unrestricted Environments
Chengzhong Ma, Houxue Yang, Hanbo Zhang +5
Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous…
REGNet V2: End-to-End REgion-based Grasp Detection Network for Grippers of Different Sizes in Point Clouds
Binglei Zhao, Han Wang, Jian Tang +5
Grasping has been a crucial but challenging problem in robotics for many years. One of the most important challenges is how to make grasping generalizable and robust to novel objec…