4 papers · 1 filter
EgoThumb: A Vision-Driven Supernumerary Robotic Thumb for Autonomous Grasp and Holding Assistance
Jianyu Hou, Jiawei Fu, Weikang Wan +3
Supernumerary robotic fingers augment human dexterity by enabling a single hand to perform complex "hold-and-manipulate" tasks that typically require bimanual coordination. However…
DexFLEX: Contact-Aware Foundation Controller for Command-Guided Dexterity
Weikang Wan, Zeyu Lai, Jianyu Hou +4
Dexterous robot hands can receive useful motion intent from teleoperation or learned policies, but successful execution also depends on contact decisions that these commands rarely…
Scaling Cross-Embodiment World Models for Dexterous Manipulation
Zihao He, Bo Ai, Tongzhou Mu +6
Cross-embodiment learning seeks to build generalist robots that learn from and operate across diverse morphologies, but differences in kinematics and action spaces hinder data shar…
Learning Adaptive Dexterous Grasping from Single Demonstrations
Liangzhi Shi, Yulin Liu, Lingqi Zeng +3
How can robots learn dexterous grasping skills efficiently and apply them adaptively based on user instructions? This work tackles two key challenges: efficient skill acquisition f…