Author

Hang-Xin Liu

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Preprint Sep 2026

SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration

Imitation learning for dexterous hands is bottlenecked by the difficulty of collecting contact-rich demonstrations that transfer faithfully to the robot. Prior wearable-exoskeleton systems record only on the human side and retarget via open-loop mappings calibrated in free space, which degrade under contact. We present...

Teng-Bo Yu, Jia-Hao Wu, Dao-Han Li et al. · 1 citation

Preprint Aug 2026

PRISM: Precision and contact-rich Real-world Industrial Skill dataset with Multimodal sensing

Recent progress in robotic learning has been fueled by large-scale datasets collected in everyday environments. However, most existing datasets emphasize short-horizon, low-contact tasks such as pick-and-place, and therefore do not capture the precision control, force/torque or tactile regulation, and multimodal feedba...

Teng-Bo Yu, Jia-Hao Wu, Hanning Wang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesis

The results indicate that decoupling physical grasp synthesis from task-dependent understanding provides a scalable paradigm for robotic grasping, allowing future advances in foundation models to be directly translated into improved grasp capabilities without redesigning or retraining the underlying grasp policy.

Si-Xu Yan, Shi-Kang Wang, Bin-Hua Huang et al. · 1 citation