2 papers
cs.RO2025
OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordance
Lei Zhang, Diwen Zheng, Kaixin Bai +5
Dexterous grasp generation aims to produce grasp poses that align with task requirements and human interpretable grasp semantics. However, achieving semantically controllable dexte…
cs.RO2025
DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation
Lei Zhang, Soumya Mondal, Zhenshan Bing +5
Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In t…