Author

Zhao-Peng Cui

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Preprint Sep 2026

ArtManip: Category-Level Articulated In-Hand Manipulation

Category-level in-hand manipulation of articulated objects is a formidable yet underexplored challenge for dexterous robotic hands. This difficulty stems from two core bottlenecks: first, controlling an object's internal degrees of freedom is tightly coupled with maintaining grasp stability on a free-floating base; sec...

Yang Yang, Teng-Yu Liu, Pu-Hao Li et al. · 0 citations

Preprint Jul 2026

Beyond Isolated Objects: Relationship-aware Open Vocabulary Scene Understanding via 3D Scene Graph Analysis

An Adaptive Gated Dual-Stream Contextual GAT that separates dense geometric features and semantic CLIP embeddings, performs edge-guided message passing, and adaptively fuses complementary semantics is introduced that separates dense geometric features and semantic CLIP embeddings, and adaptively fuses complementary sem...

Xianhao Chen, Jiarui Hu, Yuanbo Yang et al. · 0 citations