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ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes


Apr 09, 2023
Ran Gong, Jiangyong Huang, Yizhou Zhao, Haoran Geng, Xiaofeng Gao, Qingyang Wu, Wensi Ai, Ziheng Zhou, Demetri Terzopoulos, Song-Chun Zhu, Baoxiong Jia, Siyuan Huang

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* The first two authors contributed equally; 20 pages; 17 figures; project availalbe: https://arnold-benchmark.github.io/ 

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UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning


Apr 04, 2023
Weikang Wan, Haoran Geng, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, He Wang

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PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations


Mar 29, 2023
Haoran Geng, Ziming Li, Yiran Geng, Jiayi Chen, Hao Dong, He Wang

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* Accepted by CVPR2023 

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UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy


Mar 02, 2023
Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, Tengyu Liu, Li Yi, He Wang

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* Accepted to CVPR 2023 

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GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Parts


Nov 10, 2022
Haoran Geng, Helin Xu, Chengyang Zhao, Chao Xu, Li Yi, Siyuan Huang, He Wang

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End-to-End Affordance Learning for Robotic Manipulation


Sep 26, 2022
Yiran Geng, Boshi An, Haoran Geng, Yuanpei Chen, Yaodong Yang, Hao Dong

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* 8 pages, 3 figures 

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