3 papers
cs.RO2026
Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video
Yunhai Han, Jianuo Qiu, Linhao Bai +14
Human manipulation videos are a convenient and intuitive source for robot learning. However, directly transferring human dexterity to robots remains challenging due to perception e…
cs.RO2026
Towards Automated Chicken Deboning via Learning-based Dynamically-Adaptive 6-DoF Multi-Material Cutting
Zhaodong Yang, Ai-Ping Hu, Harish Ravichandar
Automating chicken shoulder deboning requires precise 6-DoF cutting through a partially occluded, deformable, multi-material joint, since contact with the bones presents serious he…
cs.RO2025
AsymDex: Asymmetry and Relative Coordinates for RL-based Bimanual Dexterity
Zhaodong Yang, Yunhai Han, Ai-Ping Hu +1
We present Asymmetric Dexterity (AsymDex), a novel and simple reinforcement learning (RL) framework that can efficiently learn a large class of bimanual skills in multi-fingered ha…