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cs.RO2025
MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Grasping
Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou +2
Dexterous grasping with multi-fingered hands remains challenging due to high-dimensional articulations and the cost of optimization-based pipelines. Existing end-to-end methods req…
cs.RO2025
VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
Jianxin Bi, Kevin Yuchen Ma, Ce Hao +2
Tactile feedback is generally recognized to be crucial for effective interaction with the physical world. However, state-of-the-art Vision-Language-Action (VLA) models lack the abi…