Houxue Yang

Towards Extrinsic Dexterity Grasping in Unrestricted Environments

Grasping large and flat objects (e.g., a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Prior research has exploited environmental interactions through Extrinsic Dexterity, utilizing external structures such as walls