4 papers
SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
Nie Lin, Takehiko Ohkawa, Sijin Chen +10
Recent years have witnessed an explosive trend of scaling ego-centric human videos for robot manipulation, yet it remains unclear which data actually benefits dexterous manipulatio…
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…
GR-Dexter Technical Report
Ruoshi Wen, Guangzeng Chen, Zhongren Cui +23
Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to b…
Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting
Ruoshi Wen, Jiajun Zhang, Guangzeng Chen +12
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF)…