2 papers
cs.RO2026
DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation
Zijian Zeng, Fei Ding, Huiming Yang +2
Sim-to-real transfer remains a critical bottleneck for deploying dexterous manipulation policies learned in simulation to real-world robots. Existing approaches rely on manually de…
cs.LG2026
HELM: Harness-Enhanced Long-horizon Memory for Vision-Language-Action Manipulation
Zijian Zeng, Fei Ding, Huiming Yang +1
Vision-Language-Action (VLA) models fail systematically on long-horizon manipulation tasks despite strong short-horizon performance. We show that this failure is not resolved by ex…