2 papers
cs.RO2026
Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention
Zhuohang Li, Liqun Huang, Wei Xu +5
Vision-Language-Action (VLA) models are prone to compounding errors in dexterous manipulation, where high-dimensional action spaces and contact-rich dynamics amplify small policy d…
cs.RO2025
Hierarchical Reinforcement Learning for Articulated Tool Manipulation with Multifingered Hand
Wei Xu, Yanchao Zhao, Weichao Guo +1
Manipulating articulated tools, such as tweezers or scissors, has rarely been explored in previous research. Unlike rigid tools, articulated tools change their shape dynamically, c…