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cs.RO2026
HumDex: Humanoid Dexterous Manipulation Made Easy
Liang Heng, Yihe Tang, Jiajun Xu +3
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleope…
cs.RO2025
UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulation
Yihe Tang, Wenlong Huang, Yingke Wang +5
Understanding fine-grained object affordances is imperative for robots to manipulate objects in unstructured environments given open-ended task instructions. However, existing meth…