6 papers indexed
Ruogu Li, Chenyang Ma, Sikai Li, Zhenyu Wei, Yunchao Yao, Haochen Shi, et al.
Dexterous hands and humanoid robots are typically developed as distinct embodiments: the former enable contact-rich manipulation at the object scale, whereas the latter provide mobility and whole-body interaction in human-centered environments. We introduce \textbf{Handroid}, a d…
Yunchao Yao, Zhuxiu Xu, Tianqi Zhang, Zixian Liu, Sikai Li, Zhenyu Wei, et al.
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sensory conditions, and robot embodiments. However, existing benchmarks remain limited in task and data…
He Liang, Chenyang Ma, Yiming Zhang, Sangyun Shin, Andrew Markham, Niki Trigoni, et al.
Existing 3D scene-grounded Large Language Models (3D-LLMs) focus on answering questions grounded in simplified single-room 3D scenes, lacking the ability to reason over real-world household environments containing multiple interconnected rooms and diverse object categories. We in…
Chenyang Ma, Yunchao Yao, Zhenyu Wei, Ruogu Li, Daniel Szafir, Mingyu Ding
Compliance is essential for dexterous manipulation, yet existing solutions often rely on external tactile or force sensors that are costly, fragile, and difficult to deploy on low-cost robot hands. We propose a proprioception-driven framework that learns contact-aware compliance…
Chenyang Ma, Yue Yang, Radu Corcodel, Siddarth Jain, Andrew Wu, Chiori Hori, et al.
Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanual furniture assembly using Vision-Language-Action models (VLAs). We formalize the task, develop a s…
Jiahang Tu, Fengyu Yang, Chenyang Ma, Xihang Yu, Ziyao Zeng, Shaokai Wu, et al.
Unified multimodal models (UMMs) have shown great promise in integrating understanding and generation across diverse modalities. However, existing research rarely extends this paradigm to the tactile domain, where both object-level semantics and sensor-level configurations jointl…