Yuanmin Dong

LLM-Diffu: Robot Dexterous Grasp Generation Network With Diffusion Model and LLM

Generating accurate dexterous grasps for objects with complex geometries remains a critical challenge in robotic manipulation. The paper proposes LLM-Diffu, a novel network architecture built on the principles of diffusion models. This architecture integrates a specialized basis point set (BPS) poin