Author

Yao Mu

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Preprint Oct 2026

EgoMatrix: Physically Faithful Dexterous Robot Demonstrations from Egocentric Human Videos

Egocentric human videos offer a scalable alternative to robot teleoperation for collecting dexterous manipulation data. However, two challenges limit their use as reliable training data: accurate hand-object interaction (HOI) reconstruction from monocular RGB and high-quality robot demonstrations, especially visual obs...

Zi-Heng Wang, Yan-Ming Shao, Ting Mao et al. · 0 citations

Preprint Oct 2026

OmniHOI: Dexterous Hand-Object Interaction from Monocular Human Video

Monocular videos of human manipulation provide abundant dexterous demonstrations, yet reconstructing hand-object interaction from a single view and transferring it to robot hands remain difficult, limiting their direct use for robot execution. Prior methods either require task-specific RL training, limiting scalability...

Ting Mao, Yan-Ming Shao, Zi-Heng Wang et al. · 0 citations

Review Oct 2026

DexJoCo-X: Benchmarking Action Representations for Multi-Hand Dexterous Manipulation

As dexterous hands proliferate, collecting data and training policies separately for every morphology becomes increasingly impractical. Scalable cross-embodiment learning therefore requires a unified representation that captures shared manipulation structure while preserving morphology-specific control. Differences in...

Xiang-Wei Jiang, Yao Mu, Li-Xin Duan et al. · 0 citations