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arXiv AI
5d ago

ProxiDex: Learning Dynamics-Guided Proximity Policy for Dexterous Manipulation

ProxiDex is a dynamics‑guided proximity policy framework for multi‑finger dexterous manipulation that treats hand‑object proximity as an interaction state. It reconstructs interaction point clouds, converts geometric distances into proximity cues, and learns action‑conditioned proximity dynamics using a coupled forward‑inverse design. The framework adaptively reweights proximity tokens across manipulation phases and employs dynamics‑consistency supervision to stabilize action generation, leading to improved success rates and robustness in both simulation and real‑world experiments.

By Yushan Bai, Boyu Zheng, Zhiyang Mao, Hongzheng Sun, Yuchuang Tong, En Li, Zhengtao Zhang
robotics
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arXiv AI
Jul 13

Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation

arXiv:2607. 09218v1 Announce Type: cross Abstract: Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and break.

By Rishabh Madan, Angchen Xie, Samantha Saak, Andres Blanco, Dohyeok Lee, Sarah Grace Brown, Yunting Yan, Mark Zolotas, Jose Barreiros, Tapomayukh Bhattacharjee
roboticsbenchmarks
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arXiv AI
Jul 14

TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation

arXiv:2607. 09218v2 Announce Type: replace-cross Abstract: Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and break.

By Rishabh Madan, Angchen Xie, Samantha Saak, Andres Blanco, Dohyeok Lee, Sarah Grace Brown, Yunting Yan, Mark Zolotas, Jose Barreiros, Tapomayukh Bhattacharjee
roboticsbenchmarks
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arXiv AI
Jul 2

Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration

arXiv:2607. 00033v1 Announce Type: cross Abstract: Dexterous robot manipulation can benefit from the abundance of human demonstrations, but transferring such demonstrations to robot policies remains challenging.

By Xinghao Zhu, Zixi Liu, Shalin Jain, Chenran Li, Milad Noori, Huihua Zhao, John Welsh, Michael Andres Lin, Wei Liu, Tingwu Wang, Xingye Da, Zhengyi Luo, Vishal Kulkarni, Naema Bhatti, Yuke Zhu, Linxi Fan, Bowen Wen, Danfei Xu, Soha Pouya, Yan Chang
reinforcement-learningroboticsbenchmarks
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arXiv AI
6d ago

Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands

arXiv:2609.15726v1 Announce Type: cross Abstract: Tactile sensing provides contact information that can be difficult to infer from vision alone, but tactile hardware for dexterous hands has not conve...

By Zhenjie Yang, Yideng Zhang, Dongjie Zhang, Chenyu Jiang, Xianshuai Liu, Yufeng Li, Zuhao Ge, Xingyu Jiao, Zheng Zhang, Kaiyu He, He Wang, Yuwen Zhong, Yi Deng, Muyun Jiang, Xianliang Huang, Haisheng Su, Donghang Zhang, Jian Zhang, Xue Yang, Hongyang Li, Zuxuan Wu, Yu-Gang Jiang, Xiaosong Jia, Junchi Yan
agentsdiffusionroboticsbenchmarks
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