Bimanual dexterous manipulation is a critical yet underexplored area in robotics. Its high-
dimensional action space and inherent task complexity present significant challenges for …

In this work, we focus on generating hand grasp over objects. Compared to previous works
of generating hand poses with a given object, we aim to allow the generalization of both …

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While
recent diffusion-based planning approaches show promise for simpler manipulation tasks …

Animating human-scene interactions such as pick-and-place tasks in cluttered, complex
layouts is a challenging task, with objects of a wide variation of geometries and articulation …

Dexterous manipulation is a critical aspect of human capability, enabling interaction with a
wide variety of objects. Recent advancements in learning from human demonstrations and …

得益于**期具有世界知识的大规模预训练模型的迅速发展, 基于大模型的具身智能在各类任务中
取得了良好的效果, 展现出了**大的泛化能力与在各领域内广阔的应用前景. 鉴于此 …

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While
recent diffusion-based planning approaches show promise for simpler manipulation tasks …