164 research outputs found

    UGG: Unified Generative Grasping

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    Dexterous grasping aims to produce diverse grasping postures with a high grasping success rate. Regression-based methods that directly predict grasping parameters given the object may achieve a high success rate but often lack diversity. Generation-based methods that generate grasping postures conditioned on the object can often produce diverse grasping, but they are insufficient for high grasping success due to lack of discriminative information. To mitigate, we introduce a unified diffusion-based dexterous grasp generation model, dubbed the name UGG, which operates within the object point cloud and hand parameter spaces. Our all-transformer architecture unifies the information from the object, the hand, and the contacts, introducing a novel representation of contact points for improved contact modeling. The flexibility and quality of our model enable the integration of a lightweight discriminator, benefiting from simulated discriminative data, which pushes for a high success rate while preserving high diversity. Beyond grasp generation, our model can also generate objects based on hand information, offering valuable insights into object design and studying how the generative model perceives objects. Our model achieves state-of-the-art dexterous grasping on the large-scale DexGraspNet dataset while facilitating human-centric object design, marking a significant advancement in dexterous grasping research. Our project page is https://jiaxin-lu.github.io/ugg/ .Comment: 17 pages, 14 figure

    Point Defects and Localized Excitons in 2D WSe2

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    Identifying the point defects in 2D materials is important for many applications. Recent studies have proposed that W vacancies are the predominant point defect in 2D WSe2, in contrast to theoretical studies, which predict that chalcogen vacancies are the most likely intrinsic point defects in transition metal dichalcogenide semiconductors. We show using first principles calculations, scanning tunneling microscopy (STM) and scanning transmission electron microscopy experiments, that W vacancies are not present in our CVD-grown 2D WSe2. We predict that O-passivated Se vacancies (O_Se) and O interstitials (Oins) are present in 2D WSe2, because of facile O2 dissociation at Se vacancies, or due to the presence of WO3 precursors in CVD growth. These defects give STM images in good agreement with experiment. The optical properties of point defects in 2D WSe2 are important because single photon emission (SPE) from 2D WSe2 has been observed experimentally. While strain gradients funnel the exciton in real space, point defects are necessary for the localization of the exciton at length scales that enable photons to be emitted one at a time. Using state-of-the-art GW-Bethe-Salpeter-equation calculations, we predict that only Oins defects give localized excitons within the energy range of SPE in previous experiments, making them a likely source of previously observed SPE. No other point defects (O_Se, Se vacancies, W vacancies and Se_W antisites) give localized excitons in the same energy range. Our predictions suggest ways to realize SPE in related 2D materials and point experimentalists toward other energy ranges for SPE in 2D WSe2
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