Author

Mingyuan Ba

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Preprint Oct 2026

CoRE: Learning Collaboration-Role Experts for Decentralized Collaborative Manipulation with One Policy

Collaborative manipulation requires robots to perform complementary actions as interactions unfold. We study single-policy decentralized collaboration: every robot runs the same policy from its visual observations and proprioception, without task prompts, identity labels, or inter-robot messages. The challenge is to le...

Ya-Nan Zhou, Zhao-Yan Qian, Zi-Hao Li et al. · 0 citations

Preprint Aug 2026

NestDex: Nested Policy Learning with Copilot Assisted Teleoperation for Dexterous Manipulation

NestDex, a nested policy-learning framework that reduces this burden by using learned hand skills to assist demonstration collection, improves demonstration reliability and efficiency, and the resulting empirical evaluations support effective autonomous policy learning.

James Zhao, Jin-He Tang, Ming-Yuan Ba et al. · 1 citation

Review Jul 2026

Tri-Manual Visuomotor Imitation Learning of Robot Policies

TriManPolicy is presented, a tri-manual imitation learning system that allows one operator to demonstrate behaviours for three arms while reconsidering when they occur, and policies trained on demonstrations retimed by DATS exhibit more efficient coordination while maintaining comparable observed task success.

James Zhao, Mingyuan Ba, Weiming Zhi · arXiv.org · 1 citation