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X-Reset is proposed, a framework that resolves exploration with human hand-object demonstrations of RL from scratch and scales with the number of training objects, generalizes to unseen objects, can learn from imperfect hand-pose estimates, and transfers behaviors zero-shot from sim-to-real.
Handroid is introduced, a desktop-scale dual-embodiment robot that integrates both capabilities within a single reconfigurable platform and provides a unified control and learning framework supporting hand teleoperation, dexterous grasping, in-hand manipulation, humanoid locomotion, gait generation, and interactive mot...
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sensory conditions, and robot embodiments. However, existing benchmarks remain limited in task and data diversity, embodiment coverage, or cont...
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