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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

Author

Yi-Fan Han

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Preprint Oct 2026

TacOT: Learning Contact-Rich Dexterous Manipulation from Human Demonstrations via Tactile-Guided Optimal Transport

Learning contact-rich dexterous manipulation from human demonstrations provides a scalable source of interaction data, yet transferring such skills to robots remains challenging due to unreliable human--robot correspondence. Existing human-to-robot transfer methods typically rely on visual appearance or motion similari...

Xing-Ting Li, Yi-Fan Han, Zi-Jian Lin et al. · 0 citations
Preprint Sep 2026

A4A: Cross-Embodiment Transfer of Action-Oriented 4D Affordances from Human Demonstrations

Human demonstrations contain rich manipulation knowledge, but it remains unclear what information can be transferred effectively to robot control. Existing affordance representations are typically formulated as 2D masks, 3D regions, contact points, or actionability scores, and therefore primarily identify where interac...

Yi-Fan Han, Li-Tao Liu, Yu Gu et al. · 1 citation

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