3 papers
cs.RO2025
TwinAligner: Visual-Dynamic Alignment Empowers Physics-aware Real2Sim2Real for Robotic Manipulation
Hongwei Fan, Hang Dai, Jiyao Zhang +7
The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simula…
cs.RO2025
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
Zeyuan Chen, Qiyang Yan, Yuanpei Chen +6
Dexterous grasping in cluttered scenes presents significant challenges due to diverse object geometries, occlusions, and potential collisions. Existing methods primarily focus on s…
cs.RO2025
Variable-Friction In-Hand Manipulation for Arbitrary Objects via Diffusion-Based Imitation Learning
Qiyang Yan, Zihan Ding, Xin Zhou +1
Dexterous in-hand manipulation (IHM) for arbitrary objects is challenging due to the rich and subtle contact process. Variable-friction manipulation is an alternative approach to d…