3 papers
cs.RO2026
AdvDex: Learning Dexterous Manipulation from Human Demonstrations via Joint-Aligned Actions and Adversarial Learning
Zhiyue Zhao, Jingyi Wu, Hairuo Liu +5
Dexterous manipulation is a fundamental capability for embodied intelligence, but scaling it remains difficult because robot demonstrations are expensive to collect and action spac…
cs.RO2026
Learning Transferable Dynamics Priors from Action to World Modeling
Ze Huang, Jiahui Zhang, Hairuo Liu +3
We study action-conditioned world modeling as a scalable way to learn transferable dynamics priors for robot learning. By pretraining a model to predict how actions drive visual sc…
cs.RO2025
ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation
Jiawen Yu, Hairuo Liu, Qiaojun Yu +9
Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations. However, they struggle with c…