24 citations · 45 across the 7 of their papers we have counts for
9 papers
SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
Nie Lin, Takehiko Ohkawa, Sijin Chen +10
Recent years have witnessed an explosive trend of scaling ego-centric human videos for robot manipulation, yet it remains unclear which data actually benefits dexterous manipulatio…
Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention
Zhuohang Li, Liqun Huang, Wei Xu +5
Vision-Language-Action (VLA) models are prone to compounding errors in dexterous manipulation, where high-dimensional action spaces and contact-rich dynamics amplify small policy d…
GR-Dexter Technical Report
Ruoshi Wen, Guangzeng Chen, Zhongren Cui +23
Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to b…
Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting
Ruoshi Wen, Jiajun Zhang, Guangzeng Chen +12
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF)…
Feasibility Retargeting for Multi-contact Teleoperation and Physical Interaction
Quentin Rouxel, Ruoshi Wen, Zhibin Li +3
This short paper outlines two recent works on multi-contact teleoperation and the development of the SEIKO (Sequential Equilibrium Inverse Kinematic Optimization) framework. SEIKO…
Learning Fine Pinch-Grasp Skills using Tactile Sensing from A Few Real-world Demonstrations
Xiaofeng Mao, Yucheng Xu, Ruoshi Wen +5
Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-effic…
Multi-Contact Motion Retargeting using Whole-body Optimization of Full Kinematics and Sequential Force Equilibrium
Quentin Rouxel, Kai Yuan, Ruoshi Wen +1
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipu…
Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control
Ruoshi Wen, Quentin Rouxel, Michael Mistry +2
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bim…
Force-guided High-precision Grasping Control of Fragile and Deformable Objects using sEMG-based Force Prediction
Ruoshi Wen, Kai Yuan, Qiang Wang +2
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the…