7 citations · 7 across the 7 of their papers we have counts for
8 papers · 1 filter
EgoMatrix: Physically Faithful Dexterous Robot Demonstrations from Egocentric Human Videos
Ziheng Wang, Yanming Shao, Ting Mao +4
Egocentric human videos offer a scalable alternative to robot teleoperation for collecting dexterous manipulation data. However, two challenges limit their use as reliable training…
Enforcing Human-like Kinematics in Dexterous Piano Playing via Adversarial Posture Regularization
Bin Qiu, Yanming Shao, Guanyu Cai +1
Reinforcement learning can train bimanual dexterous hands to play piano in physics simulation with high note accuracy, but for high-DoF dexterous hands, relying solely on task rewa…
V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos
Kaihan Chen, Yanming Shao, Haifeng Ji +2
Achieving autonomous robotic dexterous manipulation requires precise, human-like action sequences at scale. As a scalable supplement to costly teleoperation data, extracting trajec…
SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps
Yanming Shao, Zanxin Chen, Wenwei Lin +5
Human hand-object interactions encode functional intent, but direct transfer to robotic hands often fails under morphology, contact, and reachability constraints. We present SynMan…
BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models
Zhongxi Chen, Yifan Han, Bin Qiu +8
Vision-Language-Action (VLA) policies provide strong behavioral priors for dexterous manipulation, yet adapting them on real robots remains challenging because high-DoF contact fai…
DexHiL: A Human-in-the-Loop Framework for Vision-Language-Action Model Post-Training in Dexterous Manipulation
Yifan Han, Zhongxi Chen, Yuxuan Zhao +5
While Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities in robotic manipulation, deploying them on specific and complex downstream tasks s…
RoboRouter: Training-Free Policy Routing for Robotic Manipulation
Yiteng Chen, Zhe Cao, Hongjia Ren +9
Research on robotic manipulation has developed a diverse set of policy paradigms, including vision-language-action (VLA) models, vision-action (VA) policies, and code-based composi…
Bimanual Grasp Synthesis for Dexterous Robot Hands
Yanming Shao, Chenxi Xiao
Humans naturally perform bimanual skills to handle large and heavy objects. To enhance robots' object manipulation capabilities, generating effective bimanual grasp poses is essent…