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Multi-hand semantic grasp generation aims to generate feasible and semantically appropriate grasp poses for different robotic hands based on natural language instructions.
Graspit! a versatile simulator for robotic grasping
Andrew T Miller and Peter K Allen · 2004
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Dexterous hand series
Shadow Robot Company · 2005
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Dexterous hand series
BarrettHand Company · 2010
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Dexterous hand series
JacoHand Company · 2010
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Shapenet: An information-rich 3d model repository
Angel X. Chang, Thomas A. Funkhouser, Leonidas J. Guibas, Pat Hanrahan, Qi-Xing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, Jianxiong Xiao, Li Yi, and Fisher Yu · 2015
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Learning structured output representation using deep conditional generative models
Kihyuk Sohn, Honglak Lee, and Xinchen Yan · 2015
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Franka emika robots
Franka Emika GmbH · 2016
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Allegro hand
Wonik Robotics · 2016
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Neural discrete representation learning
Aaron Van Den Oord, Oriol Vinyals, et al · 2017
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6-dof graspnet: Variational grasp generation for object manipulation
Arsalan Mousavian, Clemens Eppner, and Dieter Fox · 2019
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Kaolin: A pytorch library for accelerating 3d deep learning research
NVIDIA · 2019
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Pytorch3d
Nikhila Ravi, Jeremy Reizenstein, David Novotny, Taylor Gordon, Wan-Yen Lo, Justin Johnson, and Georgia Gkioxari · 2020
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Acronym: A large-scale grasp dataset based on simulation
Clemens Eppner, Arsalan Mousavian, and Dieter Fox · 2021
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Openclip
Gabriel Ilharco, Mitchell Wortsman, Ross Wightman, Cade Gordon, Nicholas Carlini, Rohan Taori, Achal Dave, Vaishaal Shankar, Hongseok Namkoong, John Miller, Hannaneh Hajishirzi, Ali Farhadi, and Ludwig Schmidt · 2021
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Hand-object contact consistency reasoning for human grasps generation
Hanwen Jiang, Shaowei Liu, Jiashun Wang, and Xiaolong Wang · 2021
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Synthesizing diverse and physically stable grasps with arbitrary hand structures using differentiable force closure estimator
Tengyu Liu, Zeyu Liu, Ziyuan Jiao, Yixin Zhu, and Song-Chun Zhu · 2021
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Isaac gym: High performance GPU based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, and Gavriel State · 2021
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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2021
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, and Dieter Fox · 2021
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Grasp’d: Differentiable contact-rich grasp synthesis for multi-fingered hands
Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven Dickinson, and Animesh Garg · 2022
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Approximate convex decomposition for 3d meshes with collision-aware concavity and tree search
Xinyue Wei, Minghua Liu, Zhan Ling, and Hao Su · 2022
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Oakink: A large-scale knowledge repository for understanding hand-object interaction
Lixin Yang, Kailin Li, Xinyu Zhan, Fei Wu, Anran Xu, Liu Liu, and Cewu Lu · 2022
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Point-bert: Pre-training 3d point cloud transformers with masked point modeling
Xumin Yu, Lulu Tang, Yongming Rao, Tiejun Huang, Jie Zhou, and Jiwen Lu · 2022
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
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Vicuna: An open-source chatbot impressing gpt-4 with 90%* chatgpt quality, 2023
Wei-Lin Chiang, Zhuohan Li, Zi Lin, Ying Sheng, Zhanghao Wu, Hao Zhang, Lianmin Zheng, Siyuan Zhuang, Yonghao Zhuang, Joseph E. Gonzalez, Ion Stoica, and Eric P. Xing · 2023
Graspsplats: Efficient manipulation with 3d feature splatting
Mazeyu Ji, Ri-Zhao Qiu, Xueyan Zou, and Xiaolong Wang · 2024
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Reasoning grasping via multimodal large language model
Shiyu Jin, Jinxuan Xu, Yutian Lei, and Liangjun Zhang · 2024
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Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 2024
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Semgrasp : Semantic grasp generation via language aligned discretization
Kailin Li, Jingbo Wang, Lixin Yang, Cewu Lu, and Bo Dai · 2024
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Vision-language foundation models as effective robot imitators
Xinghang Li, Minghuan Liu, Hanbo Zhang, Cunjun Yu, Jie Xu, Hongtao Wu, Chilam Cheang, Ya Jing, Weinan Zhang, Huaping Liu, Hang Li, and Tao Kong · 2024
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Diffusion-based generation, optimization, and planning in 3d scenes
Siyuan Huang, Zan Wang, Puhao Li, Baoxiong Jia, Tengyu Liu, Yixin Zhu, Wei Liang, and Song-Chun Zhu · 2023
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Adriver-i: A general world model for autonomous driving
Fan Jia, Weixin Mao, Yingfei Liu, Yucheng Zhao, Yuqing Wen, Chi Zhang, Xiangyu Zhang, and Tiancai Wang · 2023
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3d gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
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Gendexgrasp: Generalizable dexterous grasping
Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yaodong Yang, and Siyuan Huang · 2023
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Cited alongside, same era.
Language embedded radiance fields for zero-shot task-oriented grasping
Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, and Ken Goldberg · 2023
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Llama: Open and efficient foundation language models
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
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Vision-language foundation models as effective robot imitators
Xinghang Li, Minghuan Liu, Hanbo Zhang, Cunjun Yu, Jie Xu, Hongtao Wu, Chilam Cheang, Ya Jing, Weinan Zhang, Huaping Liu, Hang Li, and Tao Kong · 2024
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Realdex: Towards human-like grasping for robotic dexterous hand
Yumeng Liu, Yaxun Yang, Youzhuo Wang, Xiaofei Wu, Jiamin Wang, Yichen Yao, Sören Schwertfeger, Sibei Yang, Wenping Wang, Jingyi Yu, Xuming He, and Yuexin Ma · 2024
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Weixin Mao, Weiheng Zhong, Zhou Jiang, Dong Fang, Zhongyue Zhang, Zihan Lan, Fan Jia, Tiancai Wang, Haoqiang Fan, and Osamu Yoshie · 2024
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Multigrippergrasp: A dataset for robotic grasping from parallel jaw grippers to dexterous hands
Luis Felipe Casas Murrilo, Ninad Khargonkar, Balakrishnan Prabhakaran, and Yu Xiang · 2024
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Affordancellm: Grounding affordance from vision language models
Shengyi Qian, Weifeng Chen, Min Bai, Xiong Zhou, Zhuowen Tu, and Li Erran Li · 2024
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Sam 2: Segment anything in images and videos
Nikhila Ravi, Valentin Gabeur, Yuan-Ting Hu, Ronghang Hu, Chaitanya Ryali, Tengyu Ma, Haitham Khedr, Roman Rädle, Chloe Rolland, Laura Gustafson, et al · 2024
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Meshgpt: Generating triangle meshes with decoder-only transformers
Yawar Siddiqui, Antonio Alliegro, Alexey Artemov, Tatiana Tommasi, Daniele Sirigatti, Vladislav Rosov, Angela Dai, and Matthias Nießner · 2024
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Minigpt-3d: Efficiently aligning 3d point clouds with large language models using 2d priors
Yuan Tang, Xu Han, Xianzhi Li, Qiao Yu, Yixue Hao, Long Hu, and Min Chen · 2024
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Gemini: A family of highly capable multimodal models
Gemini Team · 2024
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Deligrasp: Inferring object properties with llms for adaptive grasp policies
William Xie, Maria Valentini, Jensen Lavering, and Nikolaus Correll · 2024
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Pointllm: Empowering large language models to understand point clouds
Runsen Xu, Xiaolong Wang, Tai Wang, Yilun Chen, Jiangmiao Pang, and Dahua Lin · 2024
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Yangbin Yu, Qin Zhang, Junyou Li, Qiang Fu, and Deheng Ye · 2024
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Zhengshen Zhang, Lei Zhou, Chenchen Liu, Zhiyang Liu, Chengran Yuan, Sheng Guo, Ruiteng Zhao, Marcelo H Ang Jr, and Francis EH Tay · 2024
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3d-vla: A 3d vision-language-action generative world model
Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, and Chuang Gan · 2024
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