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

Human pose plays a crucial role in the digital age. While recent works have achieved impressive progress in understanding and generating human poses, they often support only a single modality of control signals and operate in isolation,…

In hand object reorientation provides capability for dexterous manipulation, requiring robust control policies to manage diverse object geometries, maintain stable grasps, and execute precise complex orientation trajectories. However, prior…

For robotic manipulation, existing robotics datasets and simulation benchmarks predominantly cater to robot-arm platforms. However, for humanoid robots equipped with dual arms and dexterous hands, simulation tasks and high-quality…

Despite advances in hand-object interaction modeling, generating realistic dexterous manipulation data for robotic hands remains a challenge. Retargeting methods often suffer from low accuracy and fail to account for hand-object…

Unified vision-language frameworks have greatly advanced in recent years, most of which adopt an encoder-decoder architecture to unify image-text tasks as sequence-to-sequence generation. However, existing video-language (VidL) models still…

As large models gain traction, vision-language-action (VLA) systems are enabling robots to tackle increasingly complex tasks. However, limited by the difficulty of data collection, progress has mainly focused on controlling simple gripper…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

Unified models aim to support both understanding and generation by encoding images into discrete tokens and processing them alongside text within a single autoregressive framework. This unified design offers architectural simplicity and…

Most existing vision-language manipulation research targets rigid robotic arms, whose fixed morphology limits adaptability in cluttered or confined spaces. Soft robotic arms offer an appealing alternative due to their deformability, but…

Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…

We propose UniMo, an innovative autoregressive model for joint modeling of 2D human videos and 3D human motions within a unified framework, enabling simultaneous generation and understanding of these two modalities for the first time.…

Multimodal large language models (MLLMs) have gained significant attention due to their strong multimodal understanding capability. However, existing works rely heavily on modality-specific encoders, which usually differ in architecture and…

While skill-centric approaches leverage foundation models to enhance generalization in compositional tasks, they often rely on fixed skill libraries, limiting adaptability to new tasks without manual intervention. To address this, we…

Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the…

Data-driven robotic learning faces an obvious dilemma: robust policies demand large-scale, high-quality demonstration data, yet collecting such data remains a major challenge owing to high operational costs, dependence on specialized…

Real-world manipulation data involving robotic arms is crucial for developing generalist action policies, yet such data remains scarce since existing data collection methods are hindered by high costs, hardware dependencies, and complex…

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,…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…

Enabling humanoid robots to reliably execute complex multi-step manipulation tasks is crucial for their effective deployment in industrial and household environments. This paper presents a hierarchical planning and control framework…