相关论文: UniHM: Unified Dexterous Hand Manipulation with Vi…

We propose Unified-IO, a model that performs a large variety of AI tasks spanning classical computer vision tasks, including pose estimation, object detection, depth estimation and image generation, vision-and-language tasks such as region…

With the rapid advancement of deep learning, particularly in the field of medical image analysis, an increasing number of Vision-Language Models (VLMs) are being widely applied to solve complex health and biomedical challenges. However,…

Universal grasping with multi-fingered dexterous hands is a fundamental challenge in robotic manipulation. While recent approaches successfully learn closed-loop grasping policies using reinforcement learning (RL), the inherent difficulty…

One of the most important, yet challenging, skills for a dexterous robot is grasping a diverse range of objects. Much of the prior work has been limited by speed, generality, or reliance on depth maps and object poses. In this paper, we…

Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks yet underexplored in robotics. Learning such long-horizon,…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constraints are substantially stronger than in open tabletop scenes.…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

Humanoid robots must adapt their contact behavior to diverse objects and tasks, yet most controllers rely on fixed, hand-tuned impedance gains and gripper settings. This paper introduces HumanoidVLM, a vision-language driven retrieval…

Large language models (LLMs) are beginning to automate reward design for dexterous manipulation. However, no prior work has considered tactile sensing, which is known to be critical for human-like dexterity. We present Text2Touch, bringing…

Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF humanoid control challenging and often unstable. We…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…

Recent advances in unified multimodal models (UMMs) have led to a proliferation of architectures capable of understanding, generating, and editing across visual and textual modalities. However, developing a unified framework for UMMs…

Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the…

We present a framework for learning dexterous in-hand manipulation with multifingered hands using visuomotor diffusion policies. Our system enables complex in-hand manipulation tasks, such as unscrewing a bottle lid with one hand, by…

Unified vision large language models (VLLMs) have recently achieved impressive advancements in both multimodal understanding and generation, powering applications such as visual question answering and text-guided image synthesis. However,…

A fundamental challenge in teaching robots is to provide an effective interface for human teachers to demonstrate useful skills to a robot. This challenge is exacerbated in dexterous manipulation, where teaching high-dimensional,…