3 papers
cs.RO2025
DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
Mengda Xu, Han Zhang, Yifan Hou +4
We present DexUMI - a data collection and policy learning framework that uses the human hand as the natural interface to transfer dexterous manipulation skills to various robot han…
cs.RO2025
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation
Abhiram Maddukuri, Zhenyu Jiang, Lawrence Yunliang Chen +12
Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simula…
cs.RO2024
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…