Shapellm: Universal 3d object understanding for embodied interaction
This paper presents ShapeLLM, the first 3D Multimodal Large Language Model (LLM)
designed for embodied interaction, exploring a universal 3D object understanding with 3D …
designed for embodied interaction, exploring a universal 3D object understanding with 3D …
Robo-abc: Affordance generalization beyond categories via semantic correspondence for robot manipulation
Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step
toward the open-world embodied intelligence. For human beings, this ability is rooted in the …
toward the open-world embodied intelligence. For human beings, this ability is rooted in the …
Manipllm: Embodied multimodal large language model for object-centric robotic manipulation
Robot manipulation relies on accurately predicting contact points and end-effector directions
to ensure successful operation. However learning-based robot manipulation trained on a …
to ensure successful operation. However learning-based robot manipulation trained on a …
Robot learning in the era of foundation models: A survey
X ** motions for diverse objects at scale
Human hands possess the dexterity to interact with diverse objects such as gras** specific
parts of the objects and/or approaching them from desired directions. More importantly …
parts of the objects and/or approaching them from desired directions. More importantly …
ArtiGrasp: Physically plausible synthesis of bi-manual dexterous gras** and articulation
We present ArtiGrasp, a novel method to synthesize bimanual hand-object interactions that
include gras** and articulation. This task is challenging due to the diversity of the global …
include gras** and articulation. This task is challenging due to the diversity of the global …
SemGrasp : Semantic Grasp Generation via Language Aligned Discretization
Generating natural human grasps necessitates consideration of not just object geometry but
also semantic information. Solely depending on object shape for grasp generation confines …
also semantic information. Solely depending on object shape for grasp generation confines …
Ram: Retrieval-based affordance transfer for generalizable zero-shot robotic manipulation
This work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation,
dubbed RAM, featuring generalizability across various objects, environments, and …
dubbed RAM, featuring generalizability across various objects, environments, and …
Empower dexterous robotic hand for human-centric smart manufacturing: A perception and skill learning perspective
Recent rapid developments of dexterous robotic hands have greatly enhanced the
manipulative capabilities of robots, enabling them to perform industrial tasks in human-like …
manipulative capabilities of robots, enabling them to perform industrial tasks in human-like …
Lessons from Learning to Spin" Pens"
In-hand manipulation of pen-like objects is an important skill in our daily lives, as many tools
such as hammers and screwdrivers are similarly shaped. However, current learning-based …
such as hammers and screwdrivers are similarly shaped. However, current learning-based …