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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Ge...
Qian Feng, Jianxiang Feng, Zhaopeng Chen, Rudolph Triebel, Alois · 2024-07-21 · via cs.RO updates on arXiv.org

Synthesizing diverse, uncertainty-aware grasps for multi-fingered hands from partial observations remains a critical challenge in robot learning. Prior generative methods struggle to model the intricate grasp distribution of dexterous hands and often fail to reason about shape uncertainty inherent in partial point clouds, leading to unreliable or overly conservative grasps. We propose FFHFlow, a flow-based variational framework that generates diverse, robust multi-finger grasps while explicitly quantifying perceptual uncertainty in the partial point clouds. Our approach leverages a normalizing flow-based deep latent variable model to learn a hierarchical grasp manifold, overcoming the mode collapse and rigid prior limitations of conditional Variational Autoencoders (cVAEs). By exploiting the invertibility and exact likelihoods of flows, FFHFlow introspects shape uncertainty in partial observations and identifies novel object structures, enabling risk-aware grasp synthesis. To further enhance reliability, we integrate a discriminative grasp evaluator with the flow likelihoods, formulating an uncertainty-aware ranking strategy that prioritizes grasps robust to shape ambiguity. Extensive experiments in simulation and real-world setups demonstrate that FFHFlow outperforms state-of-the-art baselines (including diffusion models) in grasp diversity and success rate, while achieving run-time efficient sampling. We also showcase its practical value in cluttered and confined environments, where diversity-driven sampling excels by mitigating collisions (Project Page: https://sites.google.com/view/ffhflow/home/).