6 papers · 2 filters
JARVIS: From Visual Manuals to Autonomous Robotic Assembly
Fan Ding, Fucai Ke, Kevin Yuchen Ma +5
Visual manuals communicate procedural knowledge through stepwise diagrams, but translating these instructions into reliable long-horizon robotic execution remains challenging. We i…
MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping
Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou +2
Cross-embodiment dexterous grasping aims to synthesize stable grasps across heterogeneous multi-fingered hands with little or no embodiment-specific tuning. Existing interaction-ce…
Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation
Yanzhe Chen, Kevin Yuchen Ma, Qi Lv +4
While Vision-Language-Action (VLA) models offer broad general capabilities, deploying them on specific hardware requires real-world adaptation to bridge the embodiment gap. Since r…
Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning
Xinqi Lucas Liu, Ruoxi Hu, Alejandro Ojeda Olarte +6
Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, t…
Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation
Kevin Yuchen Ma, Heng Zhang, Weisi Lin +2
Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often la…
World-VLA-Loop: Closed-Loop Learning of Video World Model and VLA Policy
Xiaokang Liu, Zechen Bai, Hai Ci +2
Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervi…