* equal contribution   ☆ corresponding author


Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects

Zihang ZhaoYuyang LiWanlin Li   Zhenghao Qi   Lecheng Ruan ☆  Yixin Zhu ☆  Kaspar Althoefer  

A prior-free method for articulated object manipulation, based on tactile pattern from GelSight-inspired sensors.

Preprint, under review


Grasp Multiple Objects with One Hand

Yuyang Li   Bo Liu   Yiran Geng   Puhao Li   Yaodong Yang   Yixin Zhu   Tengyu Liu ☆  Siyuan Huang ☆ 

We propose MultiGrasp, a two-stage framework for simultaneous multi-object grasping with multi-finger dexterous hands. In addition, we contribute Grasp'Em, a large-scale synthetic multi-object grasping dataset.

Project Code Arxiv

IEEE Robotics and Automation Letters (RA-L), accepted


GenDexGrasp: Generalizable Dexterous Grasping

Puhao LiTengyu LiuYuyang Li   Yiran Geng   Yaodong Yang   Yixin Zhu   Siyuan Huang ☆ 

We propose GenDexGrasp, a versatile dexterous grasping method that can generalize to out-of-domain robotic hands. In addition, we contribute MultiDex, a large-scale synthetic dexterous grasping dataset.

Arxiv PDF Project Code

International Conference on Robotics and Automation (ICRA) 2023, accepted