3 papers
cs.RO2026
Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation
Kevin Yuchen Ma, Heng Zhang, Weisi Lin +2
Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often la…
cs.RO2025
MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Grasping
Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou +2
Dexterous grasping with multi-fingered hands remains challenging due to high-dimensional articulations and the cost of optimization-based pipelines. Existing end-to-end methods req…
cs.GR2025
UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Control
Yan Wu, Korrawe Karunratanakul, Zhengyi Luo +1
Generating natural and physically plausible character motion remains challenging, particularly for long-horizon control with diverse guidance signals. While prior work combines hig…