Author

Xiao-Wen Qiu

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Preprint Oct 2026

Gen2Dex: Learning Dexterous Manipulation from Simulation-Initialized Generated Video Demonstrations

This work presents an end-to-end framework for converting simulation-grounded videos into physically executable dexterous robot demonstrations and demonstrates diverse rigid and articulated manipulation tasks in simulation and successful open-loop transfer of the optimized trajectories to a real dexterous robot.

Xiao-Wen Qiu, Yian Wang, Hao-Xiang You et al. · 0 citations

Preprint Sep 2026

IM-ENGINE: Image Editing for Embodied Data Generation

IM-ENGINE, a simulator-grounded pipeline that uses image editing as an intermediate representation for embodied data generation and a combination of generative semantic priors and simulator grounding enables scalable task-relevant supervision for robot learning.

Yian Wang, Jun-Yi Cao, Xiao-Wen Qiu et al. · 0 citations