Helin Xu — accepted AI-conference papers

2023

DexArt: Benchmarking Generalizable Dexterous Manipulation With Articulated Objects

Chen Bao, Helin Xu, Yuzhe Qin, Xiaolong Wang

CVPR 2023poster

To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do. Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects. On the other hand, operating with a multi-finger robot hand…

Cited by 94 Source ↗PDF ↗code ↗Scholar ↗

2023

GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Parts

Haoran Geng, Helin Xu, Chengyang Zhao, Chao Xu, Li Yi, Siyuan Huang +1

CVPR 2023highlight

For years, researchers have been devoted to generalizable object perception and manipulation, where cross-category generalizability is highly desired yet underexplored. In this work, we propose to learn such cross-category skills via Generalizable and Actionable Parts (GAParts). By identifying and d…

Cited by 92 Source ↗PDF ↗code ↗Scholar ↗