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A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots.
Planning optimal grasps
Carlo Ferrari, John F Canny, et al · 1992
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On characterizing and computing three-and four-finger force-closure grasps of polyhedral objects
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Graspit! a versatile simulator for robotic grasping
Andrew T Miller and Peter K Allen · 2004
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On the manipulability ellipsoids of underactuated robotic hands with compliance
Domenico Prattichizzo, Monica Malvezzi, Marco Gabiccini, and Antonio Bicchi · 2012
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On the synthesis of feasible and prehensile robotic grasps
Carlos Rosales, Raúl Suárez, Marco Gabiccini, and Antonio Bicchi · 2012
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Adam: A method for stochastic optimization
Diederik P Kingma · 2014
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U-net: Convolutional networks for biomedical image segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
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A mathematical introduction to robotic manipulation
Richard M Murray, Zexiang Li, and S Shankar Sastry · 2017
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Learning joint reconstruction of hands and manipulated objects
Yana Hasson, Gul Varol, Dimitrios Tzionas, Igor Kalevatykh, Michael J Black, Ivan Laptev, and Cordelia Schmid · 2019
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Pytorch: An imperative style, high-performance deep learning library
Adam Paszke, Sam Gross, Francisco Massa, Adam Lerer, James Bradbury, Gregory Chanan, Trevor Killeen, Zeming Lin, Natalia Gimelshein, Luca Antiga, Alban Desmaison, Andreas Kopf, Edward Yang, Zachary DeVito, Martin Raison, Alykhan Tejani, Sasank Chilamkurthy, Benoit Steiner, Lu Fang, Junjie Bai, and Soumith Chintala · 2019
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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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Score-based generative modeling through stochastic differential equations
Yang Song, Jascha Sohl-Dickstein, Diederik P Kingma, Abhishek Kumar, Stefano Ermon, and Ben Poole · 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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Diffusion models beat gans on image synthesis
Prafulla Dhariwal and Alex Nichol · 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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Ddgc: Generative deep dexterous grasping in clutter
Jens Lundell, Francesco Verdoja, and Ville Kyrki · 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, et al · 2021
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Point transformer
Hengshuang Zhao, Li Jiang, Jiaya Jia, Philip HS Torr, and Vladlen Koltun · 2021
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Segment anything
Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C Berg, Wan-Yen Lo, et al · 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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Audioldm: Text-to-audio generation with latent diffusion models
Haohe Liu, Zehua Chen, Yiitan Yuan, Xinhao Mei, Xubo Liu, Danilo P. Mandic, Wenwu Wang, and MarkD . Plumbley · 2023
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Ugg: Unified generative grasping
Jiaxin Lu, Hao Kang, Haoxiang Li, Bo Liu, Yiding Yang, Qixing Huang, and Gang Hua · 2023
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
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Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
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Hyungjin Chung, Jeongsol Kim, Michael T. McCann, Marc Louis Klasky, and J. C. Ye · 2022
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Classifier-free diffusion guidance
Jonathan Ho · 2022
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Elucidating the design space of diffusion-based generative models
Tero Karras, Miika Aittala, Timo Aila, and Samuli Laine · 2022
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Hierarchical text-conditional image generation with clip latents
Aditya Ramesh, Prafulla Dhariwal, Alex Nichol, Casey Chu, and Mark Chen · 2022
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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 2022
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Photorealistic text-to-image diffusion models with deep language understanding
Chitwan Saharia, William Chan, Saurabh Saxena, Lala Li, Jay Whang, Emily L Denton, Kamyar Ghasemipour, Raphael Gontijo Lopes, Burcu Karagol Ayan, Tim Salimans, et al · 2022
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Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
Aravind Sivakumar, Kenneth Shaw, and Deepak Pathak · 2022
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Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, and Dieter Fox · 2023
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Xcube (x3): Large-scale 3d generative modeling using sparse voxel hierarchies
Xuanchi Ren, Jiahui Huang, Xiaohui Zeng, Ken Museth, Sanja Fidler, and Francis Williams · 2023
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Videodex: Learning dexterity from internet videos
Kenneth Shaw, Shikhar Bahl, and Deepak Pathak · 2023
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Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation
Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, and He Wang · 2023
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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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Objaverse-xl: A universe of 10m+ 3d objects
Matt Deitke, Ruoshi Liu, Matthew Wallingford, Huong Ngo, Oscar Michel, Aditya Kusupati, Alan Fan, Christian Laforte, Vikram Voleti, Samir Yitzhak Gadre, et al · 2024
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Grasp as you say: Language-guided dexterous grasp generation
Yi-Lin Wei, Jian-Jian Jiang, Chengyi Xing, Xiantuo Tan, Xiao-Ming Wu, Hao Li, Mark Cutkosky, and Wei-Shi Zheng · 2024
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Dexdiffuser: Generating dexterous grasps with diffusion models
Zehang Weng, Haofei Lu, Danica Kragic, and Jens Lundell · 2024
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Dexterous grasp transformer
Guo-Hao Xu, Yi-Lin Wei, Dian Zheng, Xiao-Ming Wu, and Wei-Shi Zheng · 2024
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Guidance with spherical gaussian constraint for conditional diffusion
Lingxiao Yang, Shutong Ding, Yifan Cai, Jingyi Yu, Jingya Wang, and Ye Shi · 2024
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