Author

Aseem Doriwala

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#artificial intelligence Preprint Sep 2026

FineART: Fine-Grained Annotated Robotic Trajectory Dataset and Vision-Language-Action Model for Bimanual Manipulation

FineART is presented, a densely annotated bimanual manipulation dataset comprising 40,543 episodes and 533,913 subtasks across 151 tasks and FineART-VLA is introduced, a vision-language-action policy that predicts its own next subtask to guide its actions.

Jade Choghari, Pepijn Kooijmans, Mansi Agarwal et al. · 0 citations

Preprint Aug 2026

Pre-training Visual Dexterity in Simulation

Simulation Pre-training for Dexterity (SPD) is introduced, a pre-training framework for dexterous manipulation that uses data entirely collected in simulation and outperforms training behavior cloning policies from scratch, showing that simulation teleoperation is a viable pre-training source for real-world dexterous m...

Sarthak Kamat, Adam Rashid, Satvik Sharma et al. · 0 citations