7 papers · 1 filter
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
Yunchao Yao, Zhuxiu Xu, Tianqi Zhang +12
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sen…
DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand
Dihong Huang, Zhenyu Wei, Zhuxiu Xu +3
Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a single hand remains challenging. Adding a new task on top of an exi…
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…
: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
Songlin Wei, Hongyi Jing, Boqian Li +12
We introduce (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental…
GraspLDP: Towards Generalizable Grasping Policy via Latent Diffusion
Enda Xiang, Haoxiang Ma, Xinzhu Ma +2
This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have rece…
Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge
Haoxiang Ma, Modi Shi, Boyang Gao +1
We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects us…
Sim-to-Real Grasp Detection with Global-to-Local RGB-D Adaptation
Haoxiang Ma, Ran Qin, Modi shi +2
This paper focuses on the sim-to-real issue of RGB-D grasp detection and formulates it as a domain adaptation problem. In this case, we present a global-to-local method to address…