3 papers
cs.RO2026
FSAG: Enhancing Human-to-Dexterous-Hand Finger-Specific Affordance Grounding via Diffusion Models
Yifan Han, Yichuan Peng, Pengfei Yi +5
Dexterous grasp synthesis must jointly satisfy functional intent and physical feasibility, yet existing pipelines often decouple semantic grounding from refinement, yielding unstab…
cs.RO2026
Viewpoint Matters: Dynamically Optimizing Viewpoints with Masked Autoencoder for Visual Manipulation
Pengfei Yi, Yifan Han, Junyan Li +2
Robotic manipulation continues to be a challenge, and imitation learning (IL) enables robots to learn tasks from expert demonstrations. Current IL methods typically rely on fixed c…
cs.RO2025
FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation
Litao Liu, Wentao Wang, Yifan Han +5
Multi-task imitation learning (MTIL) has shown significant potential in robotic manipulation by enabling agents to perform various tasks using a single policy. This simplifies the…