1 code implementation • CVPR 2023 • Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, Tengyu Liu, Li Yi, He Wang
Trained on our synthesized large-scale dexterous grasp dataset, this model enables us to sample diverse and high-quality dexterous grasp poses for the object point cloud. For the second stage, we propose to replace the motion planning used in parallel gripper grasping with a goal-conditioned grasp policy, due to the complexity involved in dexterous grasping execution.
no code implementations • 6 Oct 2022 • Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, He Wang
Robotic dexterous grasping is the first step to enable human-like dexterous object manipulation and thus a crucial robotic technology.
no code implementations • 24 Sep 2022 • Jiayi Chen, Mi Yan, Jiazhao Zhang, Yinzhen Xu, Xiaolong Li, Yijia Weng, Li Yi, Shuran Song, He Wang
We for the first time propose a point cloud based hand joint tracking network, HandTrackNet, to estimate the inter-frame hand joint motion.