Author

Jin Wu

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Preprint Sep 2026

DEXTERA: From a Single Image to Deployable Dexterous Manipulation via Real-to-Sim-to-Real

Collecting real-world robot data for dexterous manipulation is costly and time-consuming. While high-fidelity physics simulators enable scalable data synthesis and policy learning, constructing deployment-ready digital twins manually remains labor-intensive, and residual visual, geometric, and dynamics gaps hinder reli...

Jin Wu, Lian-Jie Yuan, Ze-Yang Sun et al. · 0 citations

#artificial intelligence Preprint Sep 2026

HarnessPAI: An Evolving Harness for Physical AI

Physical AI aims to build embodied agents that perceive the world, understand and reason about it, and decide how to act. Yet the field has focused primarily on the last component: the action model that maps observations to low-level controls. The prevailing training recipe can erode the perceptual and reasoning capabi...

X. Wang, Wen-Hao Wu, Meng-Hao Zhang et al. · 1 citation