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cs.RO2026
UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos
Gu Zhang, Qicheng Xu, Haozhe Zhang +16
Dexterous manipulation remains challenging due to the cost of collecting real-robot teleoperation data, the heterogeneity of hand embodiments, and the high dimensionality of contro…
cs.RO2025
MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery
Baiye Cheng, Tianhai Liang, Suning Huang +5
Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-s…