Research

★ 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.

arXiv PDF Code

Preprint

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 PDF

Preprint

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

Preprint

★ 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

IEEE Robotics and Automation Letters (RA-L)

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

International Conference on Robotics and Automation (ICRA) 2023