5 accepted papers
Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action prediction, giving rise to the promising vision-language-action (VLA) paradigm. However, most existing approaches overlook
Scooping items with tools such as spoons and ladles is common in daily life, ranging from assistive feeding to retrieving items from environmental disaster sites. However, developing a general and autonomous robotic scooping policy is challenging since it requires reasoning about complex tool-object…
Sequentially grasping multiple objects with multi-fingered hands is common in daily life, where humans can fully leverage the dexterity of their hands to enclose multiple objects. However, the diversity of object geometries and the complex contact interactions required for high-DOF hands to grasp on
This paper presents TransSoft, a novel soft robotic hand with a reconfigurable design for grasping objects of varying properties. While recent soft robotic hands have improved grasping capabilities, they often struggle with a limited range of manipulable object categories and tasks due to hardware c
This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in particular, has the potential to allow robots to infer the…