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Author

Hyesung Lee

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Preprint Sep 2026

UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

Human videos provide demonstrations of dexterous manipulation but lack robot-executable actions and tactile measurements. We present UniDex-ViTac, a framework that uses human-video-guided simulation to generate robot demonstrations paired with fingertip contact observations for training a deployable visuo-tactile polic...

Hyesung Lee, Si-Hwan Heo, Sungwook Yang · 0 citations
Preprint Aug 2026

RORA: Realistic Object Reconstruction with Articulation

Replicating real-world environments into simulation by realistic visual representation like NeRF and 3D Gaussian Splatting (3DGS) has emerged as an effective strategy to reduce the sim-to-real gap in robot learning. However, implementing object articulation during the real-to-sim process is still a challenging task. Ex...

Hyesung Lee, Young-Seon Lee, Kyutae Lee et al. · 0 citations

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