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07/31/2023
Part-level Scene Reconstruction Affords Robot Interaction
Existing methods for reconstructing interactive scenes primarily focus o...
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06/25/2023
Sequential Manipulation Planning for Over-actuated UAMs
We investigate the sequential manipulation planning problem for unmanned...
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01/14/2023
A Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps
In this work, we present a reconfigurable data glove design to capture d...
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07/10/2022
Sequential Manipulation Planning on Scene Graph
We devise a 3D scene graph representation, contact graph+ (cg+), for eff...
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08/03/2021
Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
We construct a Virtual Kinematic Chain (VKC) that readily consolidates t...
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04/19/2021
Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures by Differentiable Force Closure Estimation
Existing grasp synthesis methods are either analytical or data-driven. T...
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03/30/2021
Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments
In this paper, we rethink the problem of scene reconstruction from an em...
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04/25/2020