Author

Siyuan Huang

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#artificial intelligence Preprint Sep 2026

Unified Visual-Tactile-Action Modeling from Human Demonstrations for Dexterous Manipulation

A Unified Visual-Tactile-Action Model is proposed that maps both embodiments into aligned tactile and action representations and jointly predicts future action and tactile trajectories and achieves an average success rate of 70%, outperforming the strongest visual-tactile baseline, which achieves 29%, and an architectu...

Wen-Qiao Li, Qian-You Zhao, Jia-Wen Hao et al. · 0 citations

Preprint Sep 2026

ArtManip: Category-Level Articulated In-Hand Manipulation

Category-level in-hand manipulation of articulated objects is a formidable yet underexplored challenge for dexterous robotic hands. This difficulty stems from two core bottlenecks: first, controlling an object's internal degrees of freedom is tightly coupled with maintaining grasp stability on a free-floating base; sec...

Yang Yang, Teng-Yu Liu, Pu-Hao Li et al. · 0 citations

Jul 2026

Towards Human-level Dexterous Teleoperation

TeleDexter is introduced, a hand-object co-tracking controller that maps operator intent into learned, low-level contact execution that successfully train autonomous policies via behavioral cloning, marking a concrete step towards human-level dexterous teleoperation.

Puhao Li, Zeyuan Chen, Yingying Wu et al. · arXiv.org · 0 citations