13 papers · 1 filter
TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies
Dong Jing, Jingchen Nie, Tianqi Zhang +4
Robot manipulation alternates between low-risk transit phases that call for fast execution and high-risk contact stages that demand slow, precise motion. Yet existing Vision-Langua…
Handroid: Bridging Dexterous Hand and Humanoid
Ruogu Li, Chenyang Ma, Sikai Li +6
Dexterous hands and humanoid robots are typically developed as distinct embodiments: the former enable contact-rich manipulation at the object scale, whereas the latter provide mob…
DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation
Yu Fang, Wanxi Dong, Jiaqi Liu +7
Reinforcement learning holds great promise for improving robot policies beyond the limits of imitation learning. However, its practical adoption remains bottlenecked by the lack of…
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
Yunchao Yao, Zhuxiu Xu, Tianqi Zhang +12
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sen…
Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation
Chenyang Ma, Yunchao Yao, Zhenyu Wei +3
Compliance is essential for dexterous manipulation, yet existing solutions often rely on external tactile or force sensors that are costly, fragile, and difficult to deploy on low-…
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
Shuning Li, Sikai Li, Jiachen Li +1
We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expe…
DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand
Dihong Huang, Zhenyu Wei, Zhuxiu Xu +3
Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a single hand remains challenging. Adding a new task on top of an exi…
WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation
Baiqi Li, Ce Zhang, Yu Fang +4
A robot working alongside people must reason about what they have done, in what order, and with what intent. Video carries the spatial layouts, object histories, and gestures that…
Learning Action Priors for Cross-embodiment Robot Manipulation
Dong Jing, Tianqi Zhang, Jiaqi Liu +5
Most Vision-Language-Action (VLA) models build on a Vision-Language Model (VLM) backbone by attaching an action module and optimizing the full policy jointly. This design inherits…
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation
Sikai Li, Shuning Li, Zhenyu Wei +3
Humanoid loco-manipulation is often simplified into a stop-and-go process: walking to an object, stopping to manipulate it, and then resuming locomotion. It also commonly relies on…
UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos
Gu Zhang, Qicheng Xu, Haozhe Zhang +16
Dexterous manipulation remains challenging due to the cost of collecting real-robot teleoperation data, the heterogeneity of hand embodiments, and the high dimensionality of contro…
Robotic VLA Benefits from Joint Learning with Motion Image Diffusion
Yu Fang, Kanchana Ranasinghe, Le Xue +10
Vision-Language-Action (VLA) models have achieved remarkable progress in robotic manipulation by mapping multimodal observations and instructions directly to actions. However, they…
BOSS: Benchmark for Observation Space Shift in Long-Horizon Task
Yue Yang, Linfeng Zhao, Mingyu Ding +2
Robotics has long sought to develop visual-servoing robots capable of completing previously unseen long-horizon tasks. Hierarchical approaches offer a pathway for achieving this go…