Research

★ Embedding high-resolution touch across robotic hands enables adaptive human-like grasping

Zihang Zhao *  Wanlin Li *  Yuyang Li *  Tengyu Liu *  Boren Li   Meng Wang   Kai Du   Hangxin Liu ✉  Yixin Zhu ✉  Qining Wang   Kaspar Althoefer ✉  Song-Chun Zhu  

We design F-TAC Hand, a five-finger biomimetic hand featuring high-resolution tactile sensing across the hand. This design enables adaptive human-like grasping and unlocks more capabilities.

arXiv

Preprint

Afford-X: A Generalizable and Slim Affordance Reasoning Framework for Task-oriented Manipulation

Xiaomeng Zhu *  Yuyang Li *  Leiyao Cui   Pengfei Li   Huan-ang Gao   Yixin Zhu ✉  Hao Zhao ✉ 

We develop Afford-X, an end-to-end trainable affordance reasoning model that incorporates Verb Attention and Bi-Fusion modules to improve multi-modal understanding. We showcase Afford-X's effectiveness in enabling task-oriented manipulations for robots across various tasks and environments, underscoring its efficiency and broad implications for advancing robotics and AI systems in real-world applications.

arXiv Code Video Website

Preprint

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

Zihang Zhao *  Yuyang Li *  Wanlin 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.

Website arXiv PDF Code Video

IEEE Transactions on Robotics (T-RO)

Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representations

Puhao Li *  Tengyu Liu *  Yuyang Li   Muzhi Han   Haoran Geng   Shu Wang   Yixin Zhu   Song-Chun Zhu   Siyuan Huang ✉ 

Learning novel manipulation skills with agent-agnostic value and action representations.

Website arXiv PDF Code Video Poster

IROS 2024, oral pitch presentation

PreAfford: Affordance-based Pre-grasping across Objects and Scenes

Kairui Ding *  Boyuan Chen   Ruihai Wu   Yuyang Li   Zongzheng Zhang   Huan-ang Gao   Siqi Li   Yixin Zhu   Guyue Zhou   Hao Dong   Hao Zhao ✉ 

A universal pre-grasping manipulation framework using affordance representation.

Website arXiv PDF Video Poster

IROS 2024, oral pitch presentation

★ 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.

Website arXiv PDF Code Data Video

IEEE Robotics and Automation Letter (RA-L) | IROS 2024, oral presentation

GenDexGrasp: Generalizable Dexterous Grasping

Puhao Li *  Tengyu Liu *  Yuyang 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.

Website arXiv PDF Code

ICRA 2023