8 papers
DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration
Haoran Liao, Pengyue Wang, Shuoyu Chen +10
Dynamic manipulation is a critical capability for robots operating in complex and dynamic environments, where robots must interact with objects that are moving or require rapid adj…
BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes
Mu Lin, Yi-Lin Wei, Jiaxuan Chen +7
Bimanual dexterous grasping is a fundamental and promising area in robotics, yet its progress is constrained by the lack of comprehensive datasets and powerful generation models. I…
ReViP: Mitigating False Completion in Vision-Language-Action Models with Vision-Proprioception Rebalance
Zhuohao Li, Yinghao Li, Jian-Jian Jiang +6
Vision-Language-Action (VLA) models have advanced robotic manipulation by combining vision, language, and proprioception to predict actions. However, previous methods fuse proprioc…
Constitutional Classifiers++: Efficient Production-Grade Defenses against Universal Jailbreaks
Hoagy Cunningham, Jerry Wei, Zihan Wang +26
We introduce enhanced Constitutional Classifiers that deliver production-grade jailbreak robustness with dramatically reduced computational costs and refusal rates compared to prev…
OmniDexGrasp: Generalizable Dexterous Grasping via Foundation Model and Force Feedback
Yi-Lin Wei, Zhexi Luo, Yuhao Lin +4
Enabling robots to dexterously grasp and manipulate objects based on human commands is a promising direction in robotics. However, existing approaches are challenging to generalize…
GUI-ReWalk: Massive Data Generation for GUI Agent via Stochastic Exploration and Intent-Aware Reasoning
Musen Lin, Minghao Liu, Taoran Lu +6
Graphical User Interface (GUI) Agents, powered by large language and vision-language models, hold promise for enabling end-to-end automation in digital environments. However, their…