From the 2 of 15 linked papers with an AI index.
15 papers
Handroid: Bridging Dexterous Hand and Humanoid
Ruogu Li, Chenyang Ma, Sikai Li +6
Dexterous hands and humanoid robots are typically developed as distinct embodiments: the former enable contact-rich manipulation at the object scale, whereas the latter provide mob…
When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs
Yu Fang, Yuchun Feng, Dong Jing +5
The paper studies how Vision-Language-Action (VLA) models often ignore language instructions by relying on visual shortcuts, introduces a counterfactual benchmark (LIBERO-CF) to ev…
DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation
Yu Fang, Wanxi Dong, Jiaqi Liu +7
The paper presents DenseReward, a dense visual‑language reward model for robotic manipulation that is trained on automatically synthesized failure trajectories in simulation, enabl…
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
Yunchao Yao, Zhuxiu Xu, Tianqi Zhang +12
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sen…
Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation
Chenyang Ma, Yunchao Yao, Zhenyu Wei +3
Compliance is essential for dexterous manipulation, yet existing solutions often rely on external tactile or force sensors that are costly, fragile, and difficult to deploy on low-…
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
Shuning Li, Sikai Li, Jiachen Li +1
We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expe…