Author

Yi-De Liu

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Preprint Sep 2026

Towards High-DoF Dexterous Manipulation through VLA Post-Training

Imitation-learned vision--language--action (VLA) foundation models acquire broad manipulation capabilities by scaling robot data across tasks and embodiments, but reliable deployment on a specific downstream task and hardware platform still requires post-training. Dexterous hands make this adaptation particularly diffi...

Jun-Lei Zhu, Shen-Zhe Yao, Chao-Gui Huang et al. · 0 citations

Preprint Sep 2026

MINT: A Unified Model for World-Space Camera and Hand Motion Estimation from Scalable Egocentric Pipeline Supervision

This work introduces MINT (Minting IN-the-Wild Trajectories), a foundation model for world-space hand motion reconstruction from ego-centric RGB video and develops an open-source labeling EGOPIPELINE that converts large collections of public egocentric videos into structured camera-and-hand trajectory supervision.

Zi-Jie Zhu, Wei-Ren Cai, Yi-Zhou Wang et al. · 3 citations