8 papers
Mana: Dexterous Manipulation of Articulated Tools
Zhao-Heng Yin, Guanya Shi, Pieter Abbeel +1
Articulated tool manipulation remains a major challenge in dexterous robotics due to the need to coordinate internal degrees of freedom and contact-rich interactions. While prior w…
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…
EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations
Justin Yu, Yide Shentu, Di Wu +3
Imitation learning from human demonstrations offers a promising approach for robot skill acquisition, but egocentric human data introduces fundamental challenges due to the embodim…
How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preference
Toru Lin, Shuying Deng, Zhao-Heng Yin +2
Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by conta…
Contact-Aware Neural Dynamics
Changwei Jing, Jai Krishna Bandi, Jianglong Ye +4
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous in…
Learning to Design Soft Hands using Reward Models
Xueqian Bai, Nicklas Hansen, Adabhav Singh +5
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse…