Author

Yi Ren

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Open access Mar 2026

DGS-Net: Learning Dexterous Grasps From Single-View Point Clouds via a Multi-Object Scene Dataset

Dexterous grasping in multi-object scenes remains a fundamental challenge for robotic manipulation, particularly under single-view perception where occlusion and incomplete geometry introduce significant uncertainty. To address this challenge, we propose DGS-Net, an end-to-end dexterous grasp prediction network that di...

Tao Geng, Da-Hai Yang, Zi-Wei Liu et al. · IEEE Transactions on Automat... · 0 citations

Jul 2026

Decompose and Reorganize: Planning with Primitives and Visuomotor Policies Learned from Demonstrations

The proposed DR-LfD (Decomposed and Reorganized Skills Learned from Demonstrations) framework is a framework that seamlessly integrates visuomotor policies into a TAMP-gated decision-making system, enabling reorganization of skills learned from different sources.

Yizhou Chen, Hang Xu, Dongjie Yu et al. · arXiv.org · 0 citations