3 papers
cs.RO2026
DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
Hanwen Wang, Weizhi Zhao, Xiangyu Wang +11
Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for…
cs.RO2026
Efficient and Versatile Quadrupedal Skating: Optimal Co-design via Reinforcement Learning and Bayesian Optimization
Hanwen Wang, Zhenlong Fang, Josiah Hanna +1
In this paper, we present a hardware-control co-design approach that enables efficient and versatile roller skating on quadrupedal robots equipped with passive wheels. Passive-whee…
cs.RO2026
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization
Hanwen Wang, Qiayuan Liao, Bike Zhang +3
Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limi…