相关论文: One-Shot Real-World Demonstration Synthesis for Sc…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

Achieving human-like dexterous manipulation through the collaboration of multi-fingered hands with robotic arms remains a longstanding challenge in robotics, primarily due to the scarcity of high-quality demonstrations and the complexity of…

Achieving generalizable bimanual manipulation requires systems that can learn efficiently from minimal human input while adapting to real-world uncertainties and diverse embodiments. Existing approaches face a dilemma: imitation policy…

Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost…

For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…

We present DexCanvas, a large-scale hybrid real-synthetic human manipulation dataset containing 7,000 hours of dexterous hand-object interactions seeded from 70 hours of real human demonstrations, organized across 21 fundamental…

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…

Humans naturally exhibit bilateral symmetry in their gross manipulation skills, effortlessly mirroring simple actions between left and right hands. Bimanual robots-which also feature bilateral symmetry-should similarly exploit this property…

Underactuated soft robot hands offer inherent safety and adaptability advantages over rigid systems, but developing dexterous manipulation skills remains challenging. While imitation learning shows promise for complex manipulation tasks,…

Generating large-scale demonstrations for dexterous hand manipulation remains challenging, and several approaches have been proposed in recent years to address this. Among them, generative models have emerged as a promising paradigm,…

Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while…

Achieving generalized in-hand object rotation remains a significant challenge in robotics, largely due to the difficulty of transferring policies from simulation to the real world. The complex, contact-rich dynamics of dexterous…

Data scarcity fundamentally limits the generalization of bimanual dexterous manipulation, as real-world data collection for dexterous hands is expensive and labor-intensive. Human manipulation videos, as a direct carrier of manipulation…

Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

Simulation-based data synthesis has emerged as a powerful paradigm for advancing real-world robotic manipulation. Yet existing datasets remain insufficient for robust bimanual manipulation due to (1) the lack of scalable task generation…

Synthesizing human motion has advanced rapidly, yet realistic hand motion and bimanual interaction remain underexplored. Whole-body models often miss the fine-grained cues that drive dexterous behavior, finger articulation, contact timing,…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…