3 papers
cs.RO2026
Dexterous Robot Manipulation from Human Demonstrations via Contact-Anchored Retargeting and Residual Policy Learning
Zihao Yang, Chengyuan Liu, Yu Zhou +6
Learning dexterous manipulation from demonstrations is bottlenecked by data: the contact forces that determine whether a grasp succeeds are absent from every scalable source of hum…
cs.RO2026
Affordance-Aware Interactive Decision-Making and Execution for Ambiguous Instructions
Hengxuan Xu, Fengbo Lan, Zhixin Zhao +5
Enabling robots to explore and act in unfamiliar environments under ambiguous human instructions by interactively identifying task-relevant objects (e.g., cups or beverages for "I'…
cs.RO2025
DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulation
Xinyue Xu, Jieqiang Sun, Jing +10
A dexterous hand succeeds or fails through contact, yet every scalable record of human manipulation (video, vision-based hand tracking, motion capture) observes how the hand moves…