3 papers
cs.RO2026
D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping
Haozhe Lou, Mingtong Zhang, Haoran Geng +9
Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real…
cs.RO2025
The MOTIF Hand: A Robotic Hand for Multimodal Observations with Thermal, Inertial, and Force Sensors
Hanyang Zhou, Haozhe Lou, Wenhao Liu +3
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work,…
cs.RO2024
Learning to Singulate Objects in Packed Environments using a Dexterous Hand
Hao Jiang, Yuhai Wang, Hanyang Zhou +1
Robotic object singulation, where a robot must isolate, grasp, and retrieve a target object in a cluttered environment, is a fundamental challenge in robotic manipulation. This tas…