6 papers
TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation
Suting Ni, Hanbing Zhang, Zhenyu Wei +4
Tactile feedback is fundamental to Hand-Object Interaction (HOI), governing contact formation, force regulation, and stable manipulation, making it essential for achieving true hum…
Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation
Chi Zhang, Penglin Cai, Ziheng Xi +6
As an essential modality for dexterous and contact-rich tasks, tactile sensing provides precise force feedback that cannot be reliably inferred from vision. However, limited by har…
Human-AI Teaming Through the Lens of Calibration
Eric Nalisnick, Chi Zhang, Sophia Qian +1
We study models for human-AI teaming through the lens of statistical calibration. We assume the team consists of an AI model and human -- both of which are calibrated with respect…
Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
Hao Luo, Ye Wang, Wanpeng Zhang +9
We introduce Being-H0.5, a foundational Vision-Language-Action (VLA) model designed for robust cross-embodiment generalization across diverse robotic platforms. While existing VLAs…
UniTacHand: Unified Spatio-Tactile Representation for Human to Robotic Hand Skill Transfer
Chi Zhang, Penglin Cai, Haoqi Yuan +2
Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindere…
Creative Agents: Empowering Agents with Imagination for Creative Tasks
Penglin Cai, Chi Zhang, Yuhui Fu +2
We study building embodied agents for open-ended creative tasks. While existing methods build instruction-following agents that can perform diverse open-ended tasks, none of them d…