4 papers
ProxiDex: Learning Dynamics-Guided Proximity Policy for Dexterous Manipulation
Yushan Bai, Boyu Zheng, Zhiyang Mao +4
Multi-finger dexterous manipulation relies on stable hand-object interactions, yet these interactions are partially observable in practice. Visual observations are often occluded b…
FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation
Yushan Bai, Fulin Chen, Hongzheng Sun +3
Achieving human-like dexterous manipulation through the collaboration of multi-fingered hands with robotic arms remains a longstanding challenge in robotics, primarily due to the s…
dots.llm1 Technical Report
Bi Huo, Bin Tu, Cheng Qin +24
Mixture of Experts (MoE) models have emerged as a promising paradigm for scaling language models efficiently by activating only a subset of parameters for each input token. In this…
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain
Fangcheng Jin, Yuqi Wang, Peixin Ma +4
Achieving robust locomotion on complex terrains remains a challenge due to high dimensional control and environmental uncertainties. This paper introduces a teacher prior framework…