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ReForce: Learning Force-aware Retargeting for Dexterous Manipulation
Yuhang Wu, Lingqi Zeng, Changwei Jing +2
Human demonstrations offer a scalable data source for dexterous manipulation, but transferring them to robot actions remains challenging due to the embodiment gap. Today's retarget…
Cross-Hand Latent Representation for Vision-Language-Action Models
Guangqi Jiang, Yutong Liang, Jianglong Ye +6
Dexterous manipulation is essential for real-world robot autonomy, mirroring the central role of human hand coordination in daily activity. Humans rely on rich multimodal perceptio…
From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Hands
Jianglong Ye, Lai Wei, Guangqi Jiang +3
Human grasps can be roughly categorized into two types: power grasps and precision grasps. Precision grasping enables tool use and is believed to have influenced human evolution. T…
GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
Guangqi Jiang, Haoran Chang, Ri-Zhao Qiu +6
This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates "closin…
Integrating LMM Planners and 3D Skill Policies for Generalizable Manipulation
Yuelei Li, Ge Yan, Annabella Macaluso +3
The recent advancements in visual reasoning capabilities of large multimodal models (LMMs) and the semantic enrichment of 3D feature fields have expanded the horizons of robotic ca…