Tootfinder

This https://arxiv.org/abs/2412.08468 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic Guided Grasp Generation
Multi-hand semantic grasp generation aims to generate feasible and semantically appropriate grasp poses for different robotic hands based on natural language instructions. Although the task is highly valuable, due to the lack of multihand grasp datasets with fine-grained contact description between robotic hands and objects, it is still a long-standing difficult task. In this paper, we present Multi-GraspSet, the first large-scale multi-hand grasp dataset with automatically contact annotations.…

🇺🇦 #NowPlaying on BBCRadio3's #ClassicalMixtape
George Ives, Gerald Drucker, Lyn Fletcher, Robert Heard, Sir Charles Groves, Camille Saint-Saëns, Philharmonia Orchestra, Kenneth Smith, Leslie Pearson & Michael Reeves:
🎵 Aquarium (Carnival of the Animals)
#GeorgeIves

When topics of discourse prove difficult to approach, stories can help us on our way. This famed short story about a graceful city with an unexpected abberation helps me reflect on where I want to apply my capacity for writing, sketching and teaching.

https://axbom.com/omelas/

#DigitalEthics

Fast Estimation of Globally Optimal Independent Contact Regions for Robust Grasping and Manipulation
Jonathan P. King, Harnoor Ahluwalia, Michael Zhang, Nancy S. Pollard
https://arxiv.org/abs/2506.08856

Fast Estimation of Globally Optimal Independent Contact Regions for Robust Grasping and Manipulation
This work presents a fast anytime algorithm for computing globally optimal independent contact regions (ICRs). ICRs are regions such that one contact within each region enables a valid grasp. Locations of ICRs can provide guidance for grasp and manipulation planning, learning, and policy transfer. However, ICRs for modern applications have been little explored, in part due to the expense of computing them, as they have a search space exponential in the number of contacts. We present a divide an…

Gorkov-Hedin Equations for Quantum Many-Body Systems with Spin-Dependent Interactions
Christopher Lane
https://arxiv.org/abs/2506.07302 https://

Gorkov-Hedin Equations for Quantum Many-Body Systems with Spin-Dependent Interactions
Driven by the need to understand and determine the presence of non-trivial superconductivity in real candidate materials, we present a generalized set of self-consistent Gorkov-Hedin equations in a vibrating lattice with spin dependent electron-electron and electron-phonon interactions. This extends Hedin's original equations to treat quantum many-body systems where electronic and lattice correlations along with relativistic effects coexist on the same footing. Upon iterating this set of equati…

Die Nacht zum Tag 528 war kühler als erwartet.
Aber irgendwie scheint es nicht so langsam einzuschleichen,dass ich spät loskomme.
…heute geht’s zur #Mosel und ich weiß dann immer noch nicht in welche Richtung…
#gmiatlichRadln

🌿🍇 Wusstet Ihr, dass sowohl #Holunderblüten als auch #Holunderbeeren vielseitig einsetzbar sind? Wie sammelt man die Blüten richtig, ohne den aromatischen #Blütenstaub zu ver…

Holunderblüten und Holunderbeeren (Sambucus): Heilpflanze und Lebensmittel
Der Schwarze Holunder: Heilpflanze, Lebensmittel und Gartenpflanze in einem

Neural-Augmented Kelvinlet: Real-Time Soft Tissue Deformation with Multiple Graspers
Ashkan Shahbazi, Kyvia Pereira, Jon S. Heiselman, Elaheh Akbari, Annie C. Benson, Sepehr Seifi, Xinyuan Liu, Garrison L. Johnston, Erwin Terpstra, Anne Draaisma, Jan-Jaap Severes, Jie Ying Wu, Nabil Simaan, Michael L. Miga, Soheil Kolouri
https://

Neural-Augmented Kelvinlet: Real-Time Soft Tissue Deformation with Multiple Graspers
Fast and accurate simulation of soft tissue deformation is a critical factor for surgical robotics and medical training. In this paper, we introduce a novel physics-informed neural simulator that approximates soft tissue deformations in a realistic and real-time manner. Our framework integrates Kelvinlet-based priors into neural simulators, making it the first approach to leverage Kelvinlets for residual learning and regularization in data-driven soft tissue modeling. By incorporating large-sca…

This https://arxiv.org/abs/2409.06990 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

SIS: Seam-Informed Strategy for T-shirt Unfolding
Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfolding a T-shirt. Candidates for a pair of grasping points for a dual-arm manipulator system are extracted using the proposed Seam Feature Extraction Method (SFEM). A pair of grasping points for the ro…

TD-TOG Dataset: Benchmarking Zero-Shot and One-Shot Task-Oriented Grasping for Object Generalization
Valerija Holomjova, Jamie Grech, Dewei Yi, Bruno Yun, Andrew Starkey, Pascal Mei{\ss}ner
https://arxiv.org/abs/2506.05576

TD-TOG Dataset: Benchmarking Zero-Shot and One-Shot Task-Oriented Grasping for Object Generalization
Task-oriented grasping (TOG) is an essential preliminary step for robotic task execution, which involves predicting grasps on regions of target objects that facilitate intended tasks. Existing literature reveals there is a limited availability of TOG datasets for training and benchmarking despite large demand, which are often synthetic or have artifacts in mask annotations that hinder model performance. Moreover, TOG solutions often require affordance masks, grasps, and object masks for trainin…