Ze-Yang Sun

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...