Xiangbo Lin
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View article: A single-demonstration guided manipulation learning with dexterous hand
A single-demonstration guided manipulation learning with dexterous hand Open
View article: Multi-fingered Hand Grasps with Visuo-Tactile Fusion via Multi-Agent Deep Reinforcement Learning
Multi-fingered Hand Grasps with Visuo-Tactile Fusion via Multi-Agent Deep Reinforcement Learning Open
Humans achieve contact-rich dexterous grasping through the synergy of visual and tactile information. However, the high-dimensional action space of high DoF multi-fingered hands poses significant challenges to this operation. In this study…
View article: Cross-Category Functional Grasp Transfer
Cross-Category Functional Grasp Transfer Open
Generating grasps for a dexterous hand often requires numerous grasping annotations. However, annotating high DoF dexterous hand poses is quite challenging. Especially for functional grasps, requiring the hand to grasp the object in a spec…
View article: DexFuncGrasp: A Robotic Dexterous Functional Grasp Dataset Constructed from a Cost-Effective Real-Simulation Annotation System
DexFuncGrasp: A Robotic Dexterous Functional Grasp Dataset Constructed from a Cost-Effective Real-Simulation Annotation System Open
Robot grasp dataset is the basis of designing the robot's grasp generation model. Compared with the building grasp dataset for Low-DOF grippers, it is harder for High-DOF dexterous robot hand. Most current datasets meet the needs of genera…
View article: Adaptive Motion Planning for Multi-fingered Functional Grasp via Force Feedback
Adaptive Motion Planning for Multi-fingered Functional Grasp via Force Feedback Open
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to dy…
View article: Differentiation of cirrhosis from normal liver based on textural features via T1WI computer-aided diagnosis with a genetic algorithm
Differentiation of cirrhosis from normal liver based on textural features via T1WI computer-aided diagnosis with a genetic algorithm Open
A computer-aided diagnosis (CAD) system for classification of liver cirrhosis from MRI is presented.The system consists of feature extraction and selection, classification, and classifier optimization modules.In general, biomedical imaging…