1 citations · 1 across the 9 of their papers we have counts for
10 papers
FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving
Yutong Liang, Quanquan Peng, Matthew Kim +1
Manipulating a Rubik's Cube with a single dexterous hand is a challenging test of sustained, contact-rich control: the hand must execute successive layer turns while keeping the cu…
FACT: Failure-Aware Causal Training for World-Action Models
Quanquan Peng, Yutong Liang, Rui Yan +2
Recent world-action models (WAMs) show that co-training policies with future prediction can provide physical priors for action generation. Building on the future-prediction ability…
ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
Yutong Liang, Quanquan Peng, Ri-Zhao Qiu +1
Human demonstrations provide strong priors for robot manipulation, yet it is non-trivial to transfer them to execute on real robots due to the kinematic gap. In dexterous manipulat…
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…
DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation
Yutong Liang, Shiyi Xu, Yulong Zhang +3
Capturing fine-grained hand-object interactions is challenging due to severe self-occlusion from closely spaced fingers and the subtlety of in-hand manipulation motions. Existing o…
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…
Sensor optimization for urban wind estimation with cluster-based probabilistic framework
Yutong Liang, Chang Hou, Guy Y. Cornejo Maceda +8
We propose a physics-informed machine-learned framework for sensor-based flow estimation for drone trajectories in complex urban terrain. The input is a rich set of flow simulation…
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
Haoran Geng, Feishi Wang, Songlin Wei +34
Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges i…
ReJSHand: Efficient Real-Time Hand Pose Estimation and Mesh Reconstruction Using Refined Joint and Skeleton Features
Shan An, Shipeng Dai, Mahrukh Ansari +5
Accurate hand pose estimation is vital in robotics, advancing dexterous manipulation in human-computer interaction. Toward this goal, this paper presents ReJSHand (which stands for…
SimiSketch: Efficiently Estimating Similarity of streaming Multisets
Fenghao Dong, Yang He, Yutong Liang +4
The challenge of estimating similarity between sets has been a significant concern in data science, finding diverse applications across various domains. However, previous approache…