Daily Arxiv

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AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation

Thought Anchors: Which LLM Reasoning Steps Matter?

Quantifying Fairness in LLMs Beyond Tokens: A Semantic and Statistical Perspective

OmniGen2: Exploration to Advanced Multimodal Generation

Confucius3-Math: A Lightweight High-Performance Reasoning LLM for Chinese K-12 Mathematics Learning

Morse: Dual-Sampling for Lossless Acceleration of Diffusion Models

Quantum-Classical Hybrid Quantized Neural Network

Non-equilibrium Annealed Adjoint Sampler

PP-DocBee2: Improved Baselines with Efficient Data for Multimodal Document Understanding

Mapping the Evolution of Research Contributions using KnoVo

MS-TVNet:A Long-Term Time Series Prediction Method Based on Multi-Scale Dynamic Convolution

No Free Lunch: Rethinking Internal Feedback for LLM Reasoning

TabArena: A Living Benchmark for Machine Learning on Tabular Data

VRAIL: Vectorized Reward-based Attribution for Interpretable Learning

CLAIM: Clinically-Guided LGE Augmentation for Realistic and Diverse Myocardial Scar Synthesis and Segmentation

Screen Hijack: Visual Poisoning of VLM Agents in Mobile Environments

IKDiffuser: A Generative Inverse Kinematics Solver for Multi-arm Robots via Diffusion Model

Fine-Grained Perturbation Guidance via Attention Head Selection

Graph-Assisted Stitching for Offline Hierarchical Reinforcement Learning

C3S3: Complementary Competition and Contrastive Selection for Semi-Supervised Medical Image Segmentation

SMAR: Soft Modality-Aware Routing Strategy for MoE-based Multimodal Large Language Models Preserving Language Capabilities

Recycling the Web: A Method to Enhance Pre-training Data Quality and Quantity for Language Models

Supervised Quantum Machine Learning: A Future Outlook from Qubits to Enterprise Applications

Aurora: Are Android Malware Classifiers Reliable and Stable under Distribution Shift?

CogniBench: A Legal-inspired Framework and Dataset for Assessing Cognitive Faithfulness of Large Language Models

AIDRIN 2.0: A Framework to Assess Data Readiness for AI

TSPulse: Dual Space Tiny Pre-Trained Models for Rapid Time-Series Analysis

Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain

WoundAmbit: Bridging State-of-the-Art Semantic Segmentation and Real-World Wound Care

Computation Mechanism Behind LLM Position Generalization

Training Plug-n-Play Knowledge Modules with Deep Context Distillation

MaizeField3D: A Curated 3D Point Cloud and Procedural Model Dataset of Field-Grown Maize from a Diversity Panel

From $\mathcal{O}(n^{2})$ to $\mathcal{O}(n)$ Parameters: Quantum Self-Attention in Vision Transformers for Biomedical Image Classification

Robust Multimodal Learning for Ophthalmic Disease Grading via Disentangled Representation

FGS-SLAM: Fourier-based Gaussian Splatting for Real-time SLAM with Sparse and Dense Map Fusion

Rewarding Graph Reasoning Process makes LLMs more Generalized Reasoners

Protein Structure Tokenization: Benchmarking and New Recipe

Chemical knowledge-informed framework for privacy-aware retrosynthesis learning

Balancing Truthfulness and Informativeness with Uncertainty-Aware Instruction Fine-Tuning

Diffusion Models Through a Global Lens: Are They Culturally Inclusive?

WyckoffDiff -- A Generative Diffusion Model for Crystal Symmetry

Solving Linear-Gaussian Bayesian Inverse Problems with Decoupled Diffusion Sequential Monte Carlo

Adversarial Reasoning at Jailbreaking Time

AgentBreeder: Mitigating the AI Safety Impact of Multi-Agent Scaffolds via Self-Improvement

Rethinking Early Stopping: Refine, Then Calibrate

Unlocking In-Context Learning for Natural Datasets Beyond Language Modeling

Towards Backdoor Stealthiness in Model Parameter Space

Distributed satellite information networks: Architecture, enabling technologies, and trends

Integrating Various Software Artifacts for Better LLM-based Bug Localization and Program Repair

Proximal Control of UAVs with Federated Learning for Human-Robot Collaborative Domains

Understanding World or Predicting Future? A Comprehensive Survey of World Models

USP-Gaussian: Unifying Spike-based Image Reconstruction, Pose Correction and Gaussian Splatting

Separating Tongue from Thought: Activation Patching Reveals Language-Agnostic Concept Representations in Transformers

Toddlers' Active Gaze Behavior Supports Self-Supervised Object Learning

ReconX: Reconstruct Any Scene from Sparse Views with Video Diffusion Model

Fuzz-Testing Meets LLM-Based Agents: An Automated and Efficient Framework for Jailbreaking Text-To-Image Generation Models

Evaluating Long Range Dependency Handling in Code Generation LLMs

Physics-informed Imitative Reinforcement Learning for Real-world Driving

COBRA-PPM: A Causal Bayesian Reasoning Architecture Using Probabilistic Programming for Robot Manipulation Under Uncertainty

FluoroSAM: A Language-promptable Foundation Model for Flexible X-ray Image Segmentation

Do Concept Bottleneck Models Respect Localities?

When Large Language Models contradict humans? Large Language Models' Sycophantic Behavior

Low-light Pedestrian Detection in Visible and Infrared Image Feeds: Issues and Challenges

A Survey on Explainable Reinforcement Learning: Concepts, Algorithms, Challenges

PhysUniBench: An Undergraduate-Level Physics Reasoning Benchmark for Multimodal Models

Evaluating Generalization and Representation Stability in Small LMs via Prompting, Fine-Tuning and Out-of-Distribution Prompts

Scientists' First Exam: Probing Cognitive Abilities of MLLM via Perception, Understanding, and Reasoning

The Alignment Trap: Complexity Barriers

The State of Large Language Models for African Languages: Progress and Challenges

Hybrid AI for Responsive Multi-Turn Online Conversations with Novel Dynamic Routing and Feedback Adaptation

Turing Test 2.0: The General Intelligence Threshold

$C^3$-Bench: The Things Real Disturbing LLM based Agent in Multi-Tasking

RefPentester: A Knowledge-Informed Self-Reflective Penetration Testing Framework Based on Large Language Models

Fine, I'll Merge It Myself: A Multi-Fidelity Framework for Automated Model Merging

Towards Better Benchmark Datasets for Inductive Knowledge Graph Completion

Inside you are many wolves: Using cognitive models to interpret value trade-offs in LLMs

Disentangled representations of microscopy images

Define-ML: An Approach to Ideate Machine Learning-Enabled Systems

Weighted Mean Frequencies: a handcraft Fourier feature for 4D Flow MRI segmentation

Deciphering GunType Hierarchy through Acoustic Analysis of Gunshot Recordings

AI in the Writing Process: How Purposeful AI Supports Fosters Student Writing

Dense Video Captioning using Graph-based Sentence Summarization

Causal Representation Learning with Observation Grouping for CXR Classification

Vulnerability Disclosure through Adaptive Black-Box Adversarial Attacks on NIDS

Show, Tell and Summarize: Dense Video Captioning Using Visual Cue Aided Sentence Summarization

DeepQuark: deep-neural-network approach to multiquark bound states

Large Language Model-Driven Code Compliance Checking in Building Information Modeling

Pay Less Attention to Deceptive Artifacts: Robust Detection of Compressed Deepfakes on Online Social Networks

When Life Gives You Samples: The Benefits of Scaling up Inference Compute for Multilingual LLMs

WattsOnAI: Measuring, Analyzing, and Visualizing Energy and Carbon Footprint of AI Workloads

Industrial Energy Disaggregation with Digital Twin-generated Dataset and Efficient Data Augmentation

OctoThinker: Mid-training Incentivizes Reinforcement Learning Scaling

ReCode: Updating Code API Knowledge with Reinforcement Learning

Counterfactual Influence as a Distributional Quantity

Automatic Demonstration Selection for LLM-based Tabular Data Classification

An Agentic System for Rare Disease Diagnosis with Traceable Reasoning

Off-Policy Evaluation and Learning for the Future under Non-Stationarity

SV-LLM: An Agentic Approach for SoC Security Verification using Large Language Models

Client Clustering Meets Knowledge Sharing: Enhancing Privacy and Robustness in Personalized Peer-to-Peer Learning

CARMA: Context-Aware Situational Grounding of Human-Robot Group Interactions by Combining Vision-Language Models with Object and Action Recognition

ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mapping

Created by

Haebom

Author

Lei Zhang, Kaixin Bai, Guowen Huang, Zhenshan Bing, Zhaopeng Chen, Alois Knoll, Jianwei Zhang

Outline

This paper presents a method to improve multi-finger grasping techniques in difficult-to-grasp environments. The grasping technique using contact information in complex environments is still an unexplored area. In this paper, we develop a method to generate multi-finger grasping samples in complex environments using a contact semantic map. We introduce a contact semantic conditional variational autoencoder network (CoSe-CVAE) to generate a comprehensive contact semantic map from object point clouds, and estimate hand grasping poses from the contact semantic map using a grasp detection method. Finally, we design an integrated grasp evaluation model, PointNetGPD++, to significantly improve the reliability of identifying optimal grasps in complex environments. We achieve an average grasping success rate of 81.0%, which is at least 4.65% better than the state-of-the-art methods in real single-object environments, and a grasping success rate of 75.3% in complex environments. We also present a method to generate a multi-modal multi-finger grasping dataset, which is superior to existing datasets in terms of scene diversity and mode diversity. The dataset, code, and supplementary materials can be found in https://sites.google.com/view/contact-dexnet .

ContactDexNet

📃arXiv, 📃PDF, 🌐Code(Coming Soon), 📦Datasets, 📄Supplementary Materials

sites.google.com

Takeaways, Limitations

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Takeaways:

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Significantly improved multi-finger grasping performance in complex environments (at least 4.65% improvement)

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We present a novel phage generation method using contact semantic maps.

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We present a multimodal multi-finger grasping dataset with enhanced diversity.

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PointNetGPD++ can effectively evaluate the quality and collision probability of phages.

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Limitations:

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The experimental environment is limited to a single-object environment and a complex environment. Further research is needed on generalization performance in diverse environments.

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Further improvements may be needed in the size and diversity of the dataset.

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Experimental results on real robotic systems are limited. Compatibility and performance evaluation with various robotic systems are required.

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