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Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
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2026-02-26 16:19:08
raw text
UniDexFPM Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy Tianhao Wu 1,2,3* , Yunchong Gan 1* , Mingdong Wu 1,2,3 , Jingbo Cheng 1 , Yaodong Yang 4 , Yixin Zhu 4 , Hao Dong 1,2,3,✉ 1 Center on Frontiers of Computing Studies, School of Computer Science, Peking University 2 PKU-Agibot Lab, School of Computer Science, Peking University 3 National Key Laboratory for Multimedia Information Processing, School of Computer Science, Peking University 4 Institute for Artificial Intelligence, Peking University * Equal Contribution ✉ Corresponding Author Paper Video Code Our closed-loop manipulation policy continuously repositions and reorients diverse objects to match the functional grasp goal poses successfully. Our method can generalize to diverse objects and functional goal poses without object geometry information. Abstract In real-world scenarios, objects often require repositioning and reorienta...
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