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cs.RO2026
Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions
Ziyu Zhu, Yue Chen, Xirui Liang +5
Manipulation involving rigid-deformable interactions, such as hanging clothes or dressing humans, is common in daily life, making it essential for household robots. Compared to sin…
cs.RO2026
One-Policy-Fits-All: Geometry-Aware Action Latents for Cross-Embodiment Manipulation
Juncheng Mu, Sizhe Yang, Hojin Bae +5
Cross-embodiment manipulation is crucial for enhancing the scalability of robot manipulation and reducing the high cost of data collection. However, the significant differences bet…
cs.RO2026
DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos
Juncheng Mu, Sizhe Yang, Yiming Bao +6
Data scarcity fundamentally limits the generalization of bimanual dexterous manipulation, as real-world data collection for dexterous hands is expensive and labor-intensive. Human…