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DexMimic: A Generalist Dexterous Hand-Object Tracking Policy via Value-Guided Reset Allocation
Zhexi Luo, Zhixuan Xu, Rui Yang +3
Achieving human-like dexterous manipulation remains a central challenge in robotics. Learning from human hand-object interaction (HOI) datasets offers a promising pathway to divers…
AdaClearGrasp: Learning Adaptive Clearing for Zero-Shot Robust Dexterous Grasping in Densely Cluttered Environments
Zixuan Chen, Wenquan Zhang, Jing Fang +7
In densely cluttered environments, physical interference, visual occlusions, and unstable contacts often cause direct dexterous grasping to fail, while aggressive singulation strat…
RoTri-Diff: A Spatial Robot-Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation
Zixuan Chen, Nga Teng Chan, Yiwen Hou +8
Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for…
Bi-Adapt: Few-shot Bimanual Adaptation for Novel Categories of 3D Objects via Semantic Correspondence
Jinxian Zhou, Ruihai Wu, Yiwei Liu +5
Bimanual manipulation is imperative yet challenging for robots to execute complex tasks, requiring coordinated collaboration between two arms. However, existing methods for bimanua…
Goal-VLA: Image-Generative VLMs as Object-Centric World Models Empowering Zero-shot Robot Manipulation
Haonan Chen, Jingxiang Guo, Bangjun Wang +7
Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Languag…
DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation
Zixuan Chen, Junhui Yin, Yangtao Chen +6
Generalizing language-conditioned multi-task imitation learning (IL) models to novel long-horizon 3D manipulation tasks is challenging. To address this, we propose DeCo (Task Decom…
MetaFold: Language-Guided Multi-Category Garment Folding Framework via Trajectory Generation and Foundation Model
Haonan Chen, Junxiao Li, Ruihai Wu +9
Garment folding is a common yet challenging task in robotic manipulation. The deformability of garments leads to a vast state space and complex dynamics, which complicates precise…
TelePreview: A User-Friendly Teleoperation System with Virtual Arm Assistance for Enhanced Effectiveness
Jingxiang Guo, Jiayu Luo, Zhenyu Wei +5
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-fr…
Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping
Zhenyu Wei, Zhixuan Xu, Jingxiang Guo +5
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\math…