Differences in hand geometry, joint parameterization, and kinematic topology pose challenges for cross-embodiment dexterous grasp generation. However, spatial relations among links alone are insufficient to fully capture the hand's kinematic topology. We propose DexGraspFlow, a conditional link-level $\mathrm{SE}(3)$ f...
Bin-Jia Zhou, Bo-Yu Ma, Xin-Yu Zhou et al.· 0 citations
Vision-Language-Action (VLA) models are typically deployed as isolated single-agent policies. When several such agents share a workspace, they can coordinate implicitly, by observing one another, or explicitly, by exchanging messages, but it remains unclear when explicit communication becomes necessary. We introduce Co...
Ahaskar Kashyap, Jia-Wen Zong, Bo-Yu Ma et al.· 0 citations
Failure for Rising is proposed, a failure-driven real-to-sim-to-real closed-loop learning framework that converts real-world failures into targeted policy improvement and reconstructs each failure as an interactive, object-centric table-top environment that preserves the task-relevant spatial and physical conditions.
Zhuo-Yuan Yu, Jia-Cheng Wang, Tian-Le Liu et al.· 0 citations
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical in contact-sensitive manipulation, where successful task execution depends not only on visual perception and motion generation, but also on...
Shilin Shan, Chu-Hao Zhou, Rui-Ze Wang et al.· 0 citations
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