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cs.RO2026
BAT-WAM: Bridging Action and Touch in World-Action Models for Dexterous Hands
Dong Fang, Feixuan Huang, Yuanxin Zhong +5
Dexterous manipulation with world action models (WAMs) relies on hand configuration and contact information, yet joint-state and whole-hand tactile observations may be partially or…
cs.RO2026
UniDexTok: A Unified Dexterous Hand Tokenizer from Real Data
Dong Fang, Youjun Wu, Yuanxin Zhong +4
Dexterous hands are essential for fine-grained manipulation, but their hardware designs vary substantially across embodiments. Differences in kinematics, joint definitions, and deg…