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Language-guided robot dexterous generation enables robots to grasp and manipulate objects based on human commands.
Planning optimal grasps
Carlo Ferrari, John Canny, et al · 1992
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ShadowHand · 2005
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The theory of affordances:(1979)
James J Gibson · 2014
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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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Sgdr: Stochastic gradient descent with warm restarts
Ilya Loshchilov and Frank Hutter · 2016
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Gans trained by a two time-scale update rule converge to a local nash equilibrium
Martin Heusel, Hubert Ramsauer, Thomas Unterthiner, Bernhard Nessler, and Sepp Hochreiter · 2017
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J Guibas · 2017
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Gpu-accelerated robotic simulation for distributed reinforcement learning
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, and Dieter Fox · 2018
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Representation learning with contrastive predictive coding
Aaron van den Oord, Yazhe Li, and Oriol Vinyals · 2018
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Contactdb: Analyzing and predicting grasp contact via thermal imaging
Samarth Brahmbhatt, Cusuh Ham, Charles C Kemp, and James Hays · 2019
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Contactpose: A dataset of grasps with object contact and hand pose
Samarth Brahmbhatt, Chengcheng Tang, Christopher D Twigg, Charles C Kemp, and James Hays · 2020
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Deep differentiable grasp planner for high-dof grippers
Min Liu, Zherong Pan, Kai Xu, Kanishka Ganguly, and Dinesh Manocha · 2020
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Unigrasp: Learning a unified model to grasp with multifingered robotic hands
Lin Shao, Fabio Ferreira, Mikael Jorda, Varun Nambiar, Jianlan Luo, Eugen Solowjow, Juan Aparicio Ojea, Oussama Khatib, and Jeannette Bohg · 2020
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2020
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Grab: A dataset of whole-body human grasping of objects
Omid Taheri, Nima Ghorbani, Michael J Black, and Dimitrios Tzionas · 2020
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Contactopt: Optimizing contact to improve grasps
Patrick Grady, Chengcheng Tang, Christopher D Twigg, Minh Vo, Samarth Brahmbhatt, and Charles C Kemp · 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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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Cpf: Learning a contact potential field to model the hand-object interaction
Lixin Yang, Xinyu Zhan, Kailin Li, Wenqiang Xu, Jiefeng Li, and Cewu Lu · 2021
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Toward human-like grasp: Dexterous grasping via semantic representation of object-hand
Tianqiang Zhu, Rina Wu, Xiangbo Lin, and Yi Sun · 2021
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Building normalizing flows with stochastic interpolants
Michael S Albergo and Eric Vanden-Eijnden · 2022
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Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy
Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, et al · 2023
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Yuchen Zhou, Jiayuan Gu, Xuanlin Li, Minghua Liu, Yunhao Fang, and Hao Su · 2023
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Text2grasp: Grasp synthesis by text prompts of object grasping parts
Xiaoyun Chang and Yi Sun · 2024
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Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, and Li Fei-Fei · 2024
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Anygrasp: Robust and efficient grasp perception in spatial and temporal domains
Hao-Shu Fang, Chenxi Wang, Hongjie Fang, Minghao Gou, Jirong Liu, Hengxu Yan, Wenhai Liu, Yichen Xie, and Cewu Lu · 2023
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Affordpose: A large-scale dataset of hand-object interactions with affordance-driven hand pose
Juntao Jian, Xiuping Liu, Manyi Li, Ruizhen Hu, and Jian Liu · 2023
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Aaron Hurst, Adam Lerer, Adam P Goucher, Adam Perelman, Aditya Ramesh, Aidan Clark, AJ Ostrow, Akila Welihinda, Alan Hayes, Alec Radford, et al · 2024
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Shapegrasp: Zero-shot task-oriented grasping with large language models through geometric decomposition
Samuel Li, Sarthak Bhagat, Joseph Campbell, Yaqi Xie, Woojun Kim, Katia Sycara, and Simon Stepputtis · 2024
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Partdistill: 3d shape part segmentation by vision-language model distillation
Ardian Umam, Cheng-Kun Yang, Min-Hung Chen, Jen-Hui Chuang, and Yen-Yu Lin · 2024
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Learning human-like functional grasping for multi-finger hands from few demonstrations
Wei Wei, Peng Wang, Sizhe Wang, Yongkang Luo, Wanyi Li, Daheng Li, Yayu Huang, and Haonan Duan · 2024
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An economic framework for 6-dof grasp detection
Xiao-Ming Wu, Jia-Feng Cai, Jian-Jian Jiang, Dian Zheng, Yi-Lin Wei, and Wei-Shi Zheng · 2024
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Dexterous grasp transformer
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Graspdiff: Grasping generation for hand-object interaction with multimodal guided diffusion
Binghui Zuo, Zimeng Zhao, Wenqian Sun, Xiaohan Yuan, Zhipeng Yu, and Yangang Wang · 2024
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Juntao Jian, Xiuping Liu, Zixuan Chen, Manyi Li, Jian Liu, and Ruizhen Hu · 2025
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Typetele: Releasing dexterity in teleoperation by dexterous manipulation types
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Grasp as you say: Language-guided dexterous grasp generation
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Chainhoi: Joint-based kinematic chain modeling for human-object interaction generation
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Exploring the limits of vision-language-action manipulations in cross-task generalization
Jiaming Zhou, Ke Ye, Jiayi Liu, Teli Ma, Zifan Wang, Ronghe Qiu, Kun-Yu Lin, Zhilin Zhao, and Junwei Liang · 2025
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