Zobrazeno 1 - 10
of 24
pro vyhledávání: '"Wu, Ruihai"'
Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no matter what
Externí odkaz:
http://arxiv.org/abs/2408.01953
In our daily life, cluttered objects are everywhere, from scattered stationery and books cluttering the table to bowls and plates filling the kitchen sink. Retrieving a target object from clutters is an essential while challenging skill for robots, f
Externí odkaz:
http://arxiv.org/abs/2406.02283
Garment manipulation (e.g., unfolding, folding and hanging clothes) is essential for future robots to accomplish home-assistant tasks, while highly challenging due to the diversity of garment configurations, geometries and deformations. Although able
Externí odkaz:
http://arxiv.org/abs/2405.06903
Autor:
Ding, Kairui, Chen, Boyuan, Wu, Ruihai, Li, Yuyang, Zhang, Zongzheng, Gao, Huan-ang, Li, Siqi, Zhou, Guyue, Zhu, Yixin, Dong, Hao, Zhao, Hao
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are limited in th
Externí odkaz:
http://arxiv.org/abs/2404.03634
Enabling home-assistant robots to perceive and manipulate a diverse range of 3D objects based on human language instructions is a pivotal challenge. Prior research has predominantly focused on simplistic and task-oriented instructions, i.e., "Slide t
Externí odkaz:
http://arxiv.org/abs/2403.08355
Learning a universal manipulation policy encompassing doors with diverse categories, geometries and mechanisms, is crucial for future embodied agents to effectively work in complex and broad real-world scenarios. Due to the limited datasets and unrea
Externí odkaz:
http://arxiv.org/abs/2403.02604
Autor:
Jiang, Hanxiao, Huang, Binghao, Wu, Ruihai, Li, Zhuoran, Garg, Shubham, Nayyeri, Hooshang, Wang, Shenlong, Li, Yunzhu
We introduce the novel task of interactive scene exploration, wherein robots autonomously explore environments and produce an action-conditioned scene graph (ACSG) that captures the structure of the underlying environment. The ACSG accounts for both
Externí odkaz:
http://arxiv.org/abs/2402.15487
Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds of parts
Externí odkaz:
http://arxiv.org/abs/2311.12407
Perceiving and manipulating 3D articulated objects in diverse environments is essential for home-assistant robots. Recent studies have shown that point-level affordance provides actionable priors for downstream manipulation tasks. However, existing w
Externí odkaz:
http://arxiv.org/abs/2309.07510
Articulated object manipulation is a fundamental yet challenging task in robotics. Due to significant geometric and semantic variations across object categories, previous manipulation models struggle to generalize to novel categories. Few-shot learni
Externí odkaz:
http://arxiv.org/abs/2309.07473