Mu Lin
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial…
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. In this work, we propose BiDexGrasp, consists of a…
Vision-Language-Action (VLA) models have advanced robotic manipulation by combining vision, language, and proprioception to predict actions. However, previous methods fuse proprioceptive signals directly with vision-language features,…
We introduce enhanced Constitutional Classifiers that deliver production-grade jailbreak robustness with dramatically reduced computational costs and refusal rates compared to previous-generation defenses. Our system combines several key…
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 across diverse objects or tasks due to the limited scale of…
Language-guided robot dexterous generation enables robots to grasp and manipulate objects based on human commands. However, previous data-driven methods are hard to understand intention and execute grasping with unseen categories in the…
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However,…
Water market is a contemporary marketplace for water trading and is deemed to one of the most efficient instruments to improve the social welfare. In modern water markets, the two widely used trading systems are an improved pair-wise…
This paper focuses on interior penalty discontinuous Galerkin methods for second order elliptic equations on very general polygonal or polyhedral meshes. The mesh can be composed of any polygons or polyhedra which satisfies certain shape…