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cs.RO2025
HRT1: One-Shot Human-to-Robot Trajectory Transfer for Mobile Manipulation
Sai Haneesh Allu, Jishnu Jaykumar P, Ninad Khargonkar +3
We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of fou…
cs.RO2025
RobotFingerPrint: Unified Gripper Coordinate Space for Multi-Gripper Grasp Synthesis and Transfer
Ninad Khargonkar, Luis Felipe Casas, Balakrishnan Prabhakaran +1
We introduce a novel grasp representation named the Unified Gripper Coordinate Space (UGCS) for grasp synthesis and grasp transfer. Our representation leverages spherical coordinat…
cs.RO2024
MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands
Luis Felipe Casas, Ninad Khargonkar, Balakrishnan Prabhakaran +1
We introduce a large-scale dataset named MultiGripperGrasp for robotic grasping. Our dataset contains 30.4M grasps from 11 grippers for 345 objects. These grippers range from two-f…