Tootfinder

ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
Zeyuan Chen, Qiyang Yan, Yuanpei Chen, Tianhao Wu, Jiyao Zhang, Zihan Ding, Jinzhou Li, Yaodong Yang, Hao Dong
https://arxiv.org/abs/2506.14317

ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
Dexterous grasping in cluttered scenes presents significant challenges due to diverse object geometries, occlusions, and potential collisions. Existing methods primarily focus on single-object grasping or grasp-pose prediction without interaction, which are insufficient for complex, cluttered scenes. Recent vision-language-action models offer a potential solution but require extensive real-world demonstrations, making them costly and difficult to scale. To address these limitations, we revisit …

Von #SGB #GewerkschaftsbundSGB
Der #Nationalrat hat gerade einen Angriff auf unsere Löhne durchgewunken: Er möchte kantonale

Sollen Löhne zum Leben reichen?
Jetzt bei Umfrage mitmachen?

Grzybki!
Gdzieś koło Antoniewa, koło Skoków w Wielkiej Polszczy.
#grzyby #wędrówki

A Point Cloud Completion Approach for the Grasping of Partially Occluded Objects and Its Applications in Robotic Strawberry Harvesting
Ali Abouzeid, Malak Mansour, Chengsong Hu, Dezhen Song
https://arxiv.org/abs/2506.14066

A Point Cloud Completion Approach for the Grasping of Partially Occluded Objects and Its Applications in Robotic Strawberry Harvesting
In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for effective object detection, segmentation, and grasp planning to tackle this issue caused by partially occluded objects. Our strategy begins with point cloud denoising and segmentation to accurately locate fruits. To compensate for incomplete scans due to occlu…

Die Forderung ist klar: nach und nach die Anzahl der Feiertage so lange erhöhen, bis jede Woche mindestens einen hat und die Produktivitäts­gewinne der letzten 50 Jahre zumindest halbwegs in mehr Freizeit für diejenigen, die sie erwirtschaften, umgesetzt sind.
PS: ich will da jetzt bewußt keine Diskussion Urlaub statt Feiertage. Der tarifliche Urlaub ist weit länger als der gesetzliche, und plötzlich wäre das eine Frage von Gewerkschaften und Tarifverträgen.

My favorite breakfast place (Jagged Fork in #GrossePointe) is apparently a favorite amongst Dads. Halfway through a DoorDash order, we got a notice that they were closed to online orders due to volume.
I was really looking forward to their new Birria Breakfast Burrito. :(
#FathersDay

CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
Jiahua Ma, Yiran Qin, Yixiong Li, Xuanqi Liao, Yulan Guo, Ruimao Zhang
https://arxiv.org/abs/2506.14769

CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints restrict model inference to instantaneous state and scene observations. These limitations seriously reduce the efficacy of learning from expert demonstrations, resulting in failures in object localization, grasp planning, and long-horizon task execution. To add…

Der Verein präsentiert sich als "alternative #Gewerkschaft" und bläst zum Angriff auf #verdi und #IGMetall. Doch er hat zahlreiche Verbindungen zur

Lasso Gripper: A String Shooting-Retracting Mechanism for Shape-Adaptive Grasping
Qiyuan Qiao, Yu Wang, Xiyu Fan, Peng Lu
https://arxiv.org/abs/2506.14163 …

Lasso Gripper: A String Shooting-Retracting Mechanism for Shape-Adaptive Grasping
Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size. This paper proposes a novel gripper, Lasso Gripper. Inspired by traditional tools like the lasso and the uurga, Lasso Gripper captures objects by launching and retracting a string. Contrary to antipodal grippers, which concentrate force on a limited area, Lasso Gripper applies uniform pressure along the length of the …

Grasp Prediction based on Local Finger Motion Dynamics
Dimitar Valkov, Pascal Kockwelp, Florian Daiber, Antonio Kr\"uger
https://arxiv.org/abs/2506.10818

Grasp Prediction based on Local Finger Motion Dynamics
The ability to predict the object the user intends to grasp offers essential contextual information and may help to leverage the effects of point-to-point latency in interactive environments. This paper explores the feasibility and accuracy of real-time recognition of uninstrumented objects based on hand kinematics during reach-to-grasp actions. In a data collection study, we recorded the hand motions of 16 participants while reaching out to grasp and then moving real and synthetic objects. Our…