6 papers · 1 filter
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…
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-…
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
Chenyang Ma, Yue Yang, Radu Corcodel +4
Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanu…
UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation
Jiahang Tu, Fengyu Yang, Chenyang Ma +8
Unified multimodal models (UMMs) have shown great promise in integrating understanding and generation across diverse modalities. However, existing research rarely extends this para…
COOPERA: Continual Open-Ended Human-Robot Assistance
Chenyang Ma, Kai Lu, Ruta Desai +3
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities,…