Author

Ying-Tao Qian

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Preprint Nov 2026

DexArena: A Unified Benchmark for Long-Horizon Dexterous Manipulation

Long-horizon dexterous manipulation remains a fundamental challenge for robot learning, requiring the composition of multiple skills, precise bimanual coordination, generalizable visual understanding, and robust skill transitions. Yet existing manipulation benchmarks largely emphasize isolated skills or support only a...

Hao-Nan Ping, Jian-Shu Hu, Yi-Min Wang et al. · 0 citations

Preprint Oct 2026

OneDemo: Unified Policy Learning and Data Generation from a Single Demonstration

OneDemo is introduced, a reinforcement learning framework that learns to edit a single successful demonstration for new task configurations, and shows that learning to edit a single successful demonstration provides a structured and effective basis for both policy learning and scalable demonstration generation.

Ying-Tao Qian, Jian-Shu Hu, Han Fang et al. · 0 citations