Author

Ruiqi Ni

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Preprint Oct 2026

DexForge: High-Fidelity Physics-Informed Dexterous Retargeting

Human demonstrations offer rich examples of precise dexterous manipulation and a promising source of robot training data. However, high-fidelity reproduction of demonstrated motions and hand-object interactions across robot embodiments remains challenging under physical constraints. We present DexForge, a differentiabl...

Mei-Zhong Wang, Kun Cao, Rui-Qi Ni et al. · 0 citations

Preprint Aug 2026

Fast Generative Grasping via Lie Group-Constrained MeanFlow

An approach to fast generative grasping based on MeanFlow on the product Lie group $\mathcal{G} = \mathrm{SO}(3) \times \mathbb{R}^3$ that anchors the average velocity to the data distribution, exhibiting robust grasp synthesis under observation noise.

S. T. Bukhari, Yi Wei, Rui-Qi Ni et al. · 1 citation

Preprint Aug 2026

$\tau_0$-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computation

Across in-domain and distribution-shifted settings, allocating additional test-time computation substantially improves next-subtask prediction accuracy, and these gains translate into higher closed-loop success on long-horizon robot manipulation tasks.

Xiaowei Cai, Yunuo Cai, Bing Chen et al. · 4 citations · ⚡1