HRDexDB is a multi-modal dataset of 1.4K human and robotic dexterous grasps across 100 objects, providing aligned 3D kinematics, high-resolution tactile data, and video streams.
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DexJoCo is a benchmark and toolkit with 11 functionally grounded tasks, 1.1K trajectories, and empirical benchmarks for task-oriented dexterous manipulation on MuJoCo.
DexSynRefine synthesizes HOI motions with an extended manifold method, refines them via task-space residual RL, and adapts for sim-to-real transfer, outperforming kinematic retargeting by 50-70 percentage points on five dexterous tasks.
DeLock mitigates lock-in in low-data VLA post-training via visual grounding preservation and test-time contrastive prompt guidance, outperforming baselines across eight evaluations while matching data-heavy generalist policies.
VLA-REPLICA is a low-cost and reproducible real-world benchmark for evaluating VLA models in robotic manipulation tasks.
citing papers explorer
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HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps
HRDexDB is a multi-modal dataset of 1.4K human and robotic dexterous grasps across 100 objects, providing aligned 3D kinematics, high-resolution tactile data, and video streams.
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DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
DexJoCo is a benchmark and toolkit with 11 functionally grounded tasks, 1.1K trajectories, and empirical benchmarks for task-oriented dexterous manipulation on MuJoCo.
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DexSynRefine: Synthesizing and Refining Human-Object Interaction Motion for Physically Feasible Dexterous Robot Actions
DexSynRefine synthesizes HOI motions with an extended manifold method, refines them via task-space residual RL, and adapts for sim-to-real transfer, outperforming kinematic retargeting by 50-70 percentage points on five dexterous tasks.
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Breaking Lock-In: Preserving Steerability under Low-Data VLA Post-Training
DeLock mitigates lock-in in low-data VLA post-training via visual grounding preservation and test-time contrastive prompt guidance, outperforming baselines across eight evaluations while matching data-heavy generalist policies.
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VLA-REPLICA: A Low-Cost, Reproducible Benchmark for Real-World Evaluation of Vision-Language-Action Models
VLA-REPLICA is a low-cost and reproducible real-world benchmark for evaluating VLA models in robotic manipulation tasks.