Xuanheng Li — accepted AI-conference papers

2025

Multi-fingered Hand Grasps with Visuo-Tactile Fusion via Multi-Agent Deep Reinforcement Learning

Peida Jia, Xuanheng Li, Tianqiang Zhu, Rina Wu, Xiangbo Lin, Yi Sun

AAAI 2025technical

Humans achieve contact-rich dexterous grasping through the synergy of visual and tactile information. However, the high-dimensional action space of high DoF multi-fingered hands poses significant challenges to this operation. In this study, we address this complexity by controlling the robotic hand…

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2024

DexFuncGrasp: A Robotic Dexterous Functional Grasp Dataset Constructed from a Cost-Effective Real-Simulation Annotation System

Jinglue Hang, Xiangbo Lin, Tianqiang Zhu, Xuanheng Li, Rina Wu, Xiaohong Ma +1

AAAI 2024technical

Robot grasp dataset is the basis of designing the robot's grasp generation model. Compared with the building grasp dataset for Low-DOF grippers, it is harder for High-DOF dexterous robot hand. Most current datasets meet the needs of generating stable grasps, but they are not suitable for dexterous h…

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