GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping

no code implementations • 12 Sep 2023 • Tianhao Wu, Mingdong Wu, Jiyao Zhang, Yunchong Gan, Hao Dong

In this paper, we propose a novel task called human-assisting dexterous grasping that aims to train a policy for controlling a robotic hand's fingers to assist users in grasping objects.

GenPose: Generative Category-level Object Pose Estimation via Diffusion Models

no code implementations • 18 Jun 2023 • Jiyao Zhang, Mingdong Wu, Hao Dong

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings.

6D Pose Estimation 6D Pose Estimation using RGBD +2

Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objects

1 code implementation • 7 Aug 2022 • Qiyu Dai, Jiyao Zhang, Qiwei Li, Tianhao Wu, Hao Dong, Ziyuan Liu, Ping Tan, He Wang

Commercial depth sensors usually generate noisy and missing depths, especially on specular and transparent objects, which poses critical issues to downstream depth or point cloud-based tasks.

Pose Estimation Transparent objects