3 papers
cs.RO2025
Universal Dexterous Functional Grasping via Demonstration-Editing Reinforcement Learning
Chuan Mao, Haoqi Yuan, Ziye Huang +3
Reinforcement learning (RL) has achieved great success in dexterous grasping, significantly improving grasp performance and generalization from simulation to the real world. Howeve…
cs.RO2025
DemoGrasp: Universal Dexterous Grasping from a Single Demonstration
Haoqi Yuan, Ziye Huang, Ye Wang +3
Universal grasping with multi-fingered dexterous hands is a fundamental challenge in robotic manipulation. While recent approaches successfully learn closed-loop grasping policies…
cs.RO2024
Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Grasping
Ziye Huang, Haoqi Yuan, Yuhui Fu +1
Universal dexterous grasping across diverse objects presents a fundamental yet formidable challenge in robot learning. Existing approaches using reinforcement learning (RL) to deve…