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09/14/2023
HandNeRF: Learning to Reconstruct Hand-Object Interaction Scene from a Single RGB Image
This paper presents a method to learn hand-object interaction prior for ...
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07/24/2023
simPLE: a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects
Existing robotic systems have a clear tension between generality and pre...
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07/21/2023
RICo: Rotate-Inpaint-Complete for Generalizable Scene Reconstruction
General scene reconstruction refers to the task of estimating the full 3...
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05/16/2023
Real-time Simultaneous Multi-Object 3D Shape Reconstruction, 6DoF Pose Estimation and Dense Grasp Prediction
Robotic manipulation systems operating in complex environments rely on p...
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04/08/2023
Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance
The choice of a grasp plays a critical role in the success of downstream...
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09/14/2021
Object Shell Reconstruction: Camera-centric Object Representation for Robotic Grasping
Robots can effectively grasp and manipulate objects using their 3D model...
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09/29/2018
In-Hand Manipulation via Motion Cones
In this paper, we present the mechanics and algorithms to compute the se...
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09/23/2018
Regrasping by Fixtureless Fixturing
This paper presents a fixturing strategy for regrasping that does not re...
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09/22/2018
Pneumatic Shape-shifting Fingers to Reorient and Grasp
We present pneumatic shape-shifting fingers to enable a simple parallel-...
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10/30/2017
Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
This paper presents an approach to in-hand manipulation planning that ex...
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10/03/2017