28 citations · 114 across the 16 of their papers we have counts for
5 papers · 1 filter
Autonomous Outdoor Scanning via Online Topological and Geometric Path Optimization
Pengdi Huang, Liqiang Lin, Kai Xu +1
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.…
Deep Differentiable Grasp Planner for High-DOF Grippers
Min Liu, Zherong Pan, Kai Xu +2
We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-…
Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +2
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using onl…
Generating Grasp Poses for a High-DOF Gripper Using Neural Networks
Min Liu, Zherong Pan, Kai Xu +2
We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number o…
Caging Loops in Shape Embedding Space: Theory and Computation
Jian Liu, Shiqing Xin, Zengfu Gao +3
We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different fro…