2 citations · 2 across the 11 of their papers we have counts for
8 papers · 1 filter
Handroid: Bridging Dexterous Hand and Humanoid
Ruogu Li, Chenyang Ma, Sikai Li +6
Dexterous hands and humanoid robots are typically developed as distinct embodiments: the former enable contact-rich manipulation at the object scale, whereas the latter provide mob…
TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation
Suting Ni, Hanbing Zhang, Zhenyu Wei +4
Tactile feedback is fundamental to Hand-Object Interaction (HOI), governing contact formation, force regulation, and stable manipulation, making it essential for achieving true hum…
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…
Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation
Chenyang Ma, Yunchao Yao, Zhenyu Wei +3
Compliance is essential for dexterous manipulation, yet existing solutions often rely on external tactile or force sensors that are costly, fragile, and difficult to deploy on low-…
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…
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation
Sikai Li, Shuning Li, Zhenyu Wei +3
Humanoid loco-manipulation is often simplified into a stop-and-go process: walking to an object, stopping to manipulate it, and then resuming locomotion. It also commonly relies on…
When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs
Yu Fang, Yuchun Feng, Dong Jing +5
Vision-Language-Action models (VLAs) promise to ground language instructions in robot control, yet in practice often fail to faithfully follow language. When presented with instruc…
One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation
Zhenyu Wei, Yunchao Yao, Mingyu Ding
Dexterous manipulation policies today largely assume fixed hand designs, severely restricting their generalization to new embodiments with varied kinematic and structural layouts.…